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AP_Baro: added averaging to PX4 baro driver

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This commit is contained in:
Andrew Tridgell 2013-01-04 21:08:20 +11:00
parent 38f56be2c4
commit 4fe7ad6267
2 changed files with 14 additions and 8 deletions
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19
libraries/AP_Baro/AP_Baro_PX4.cpp
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@ -20,16 +20,19 @@ extern const AP_HAL::HAL& hal;
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_PX4::init(void) bool AP_Baro_PX4::init(void)
{ {
_baro_fd = open(BARO_DEVICE_PATH, O_RDONLY); if (_baro_fd == -1) {
if (_baro_fd < 0) { _baro_fd = open(BARO_DEVICE_PATH, O_RDONLY);
hal.scheduler->panic("Unable to open " BARO_DEVICE_PATH); if (_baro_fd < 0) {
} hal.scheduler->panic("Unable to open " BARO_DEVICE_PATH);
}
/* set the driver to poll at 150Hz */ /* set the driver to poll at 150Hz */
ioctl(_baro_fd, SENSORIOCSPOLLRATE, 150); ioctl(_baro_fd, SENSORIOCSPOLLRATE, 150);
// average over up to 10 samples // average over up to 10 samples
ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 10); ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 10);
hal.console->printf("AP_Baro_PX4: init done fd=%d\n", _baro_fd);
}
return true; return true;
} }

3
libraries/AP_Baro/AP_Baro_PX4.h
View File

@ -8,6 +8,9 @@
class AP_Baro_PX4 : public AP_Baro class AP_Baro_PX4 : public AP_Baro
{ {
public: public:
AP_Baro_PX4() : AP_Baro() {
_baro_fd = -1;
}
bool init(); bool init();
uint8_t read(); uint8_t read();
float get_pressure(); float get_pressure();