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AP_Airspeed: added ARSPD_SKIP_CAL parameter

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allows airspeed calibration to be skipped for easier startup
This commit is contained in:
Andrew Tridgell 2014-11-13 21:12:37 +11:00
parent fa5bab2682
commit 258542b939
3 changed files with 14 additions and 3 deletions
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12
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -115,6 +115,13 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("TUBE_ORDER", 6, AP_Airspeed, _tube_order, 2),
// @Param: SKIP_CAL
// @DisplayName: Skip airspeed calibration on startup
// @Description: This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO("SKIP_CAL", 7, AP_Airspeed, _skip_cal, 0),
AP_GROUPEND
};
@ -170,13 +177,16 @@ bool AP_Airspeed::get_temperature(float &temperature)
// calibrate the airspeed. This must be called at least once before
// the get_airspeed() interface can be used
void AP_Airspeed::calibrate()
void AP_Airspeed::calibrate(bool in_startup)
{
float sum = 0;
uint8_t count = 0;
if (!_enable) {
return;
}
if (in_startup && _skip_cal) {
return;
}
// discard first reading
get_pressure();
for (uint8_t i = 0; i < 10; i++) {

3
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -64,7 +64,7 @@ public:
// calibrate the airspeed. This must be called on startup if the
// altitude/climb_rate/acceleration interfaces are ever used
void calibrate();
void calibrate(bool in_startup);
// return the current airspeed in m/s
float get_airspeed(void) const {
@ -170,6 +170,7 @@ private:
AP_Int8 _pin;
AP_Int8 _autocal;
AP_Int8 _tube_order;
AP_Int8 _skip_cal;
float _raw_airspeed;
float _airspeed;
float _last_pressure;

2
libraries/AP_Airspeed/examples/Airspeed/Airspeed.pde
View File

@ -65,7 +65,7 @@ void setup()
AP_Param::set_object_value(&airspeed, airspeed.var_info, "_PIN", 65);
airspeed.init();
airspeed.calibrate();
airspeed.calibrate(false);
}
void loop(void)