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add low pass filter to meas airspeed driver including logging of filtered value

This commit is contained in:
Thomas Gubler 2014-03-14 01:13:22 +01:00
parent b6a087e921
commit 0784ef9189
6 changed files with 18 additions and 6 deletions
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9
src/drivers/meas_airspeed/meas_airspeed.cpp
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@ -79,6 +79,8 @@
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
@ -99,6 +101,8 @@
#define ADDR_READ_MR 0x00 /* write to this address to start conversion */
/* Measurement rate is 100Hz */
#define MEAS_RATE 100.0f
#define MEAS_DRIVER_FILTER_FREQ 3.0f
#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */
class MEASAirspeed : public Airspeed
@ -116,6 +120,7 @@ protected:
virtual int measure();
virtual int collect();
math::LowPassFilter2p _filter;
};
/*
@ -124,7 +129,8 @@ protected:
extern "C" __EXPORT int meas_airspeed_main(int argc, char *argv[]);
MEASAirspeed::MEASAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
CONVERSION_INTERVAL, path)
CONVERSION_INTERVAL, path),
_filter(MEAS_RATE, MEAS_DRIVER_FILTER_FREQ)
{
}
@ -208,6 +214,7 @@ MEASAirspeed::collect()
report.error_count = perf_event_count(_comms_errors);
report.temperature = temperature;
report.differential_pressure_pa = diff_press_pa;
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;

1
src/modules/sdlog2/sdlog2.c
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@ -1142,6 +1142,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}

3
src/modules/sdlog2/sdlog2_messages.h
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@ -92,6 +92,7 @@ struct log_SENS_s {
float baro_alt;
float baro_temp;
float diff_pres;
float diff_pres_filtered;
};
/* --- LPOS - LOCAL POSITION --- */
@ -306,7 +307,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),

1
src/modules/sensors/sensors.cpp
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@ -1028,6 +1028,7 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
raw.differential_pressure_counter++;
_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);

5
src/modules/uORB/topics/differential_pressure.h
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@ -54,8 +54,9 @@
struct differential_pressure_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
uint64_t error_count;
float differential_pressure_pa; /**< Differential pressure reading */
float max_differential_pressure_pa; /**< Maximum differential pressure reading */
float differential_pressure_pa; /**< Differential pressure reading */
float differential_pressure_filtered_pa; /**< Low pass filtered differential pressure reading */
float max_differential_pressure_pa; /**< Maximum differential pressure reading */
float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */
float temperature; /**< Temperature provided by sensor */

5
src/modules/uORB/topics/sensor_combined.h
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@ -103,8 +103,9 @@ struct sensor_combined_s {
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
uint32_t baro_counter; /**< Number of raw baro measurements taken */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */
float differential_pressure_pa; /**< Airspeed sensor differential pressure */
float differential_pressure_filtered_pa; /**< Low pass filtered airspeed sensor differential pressure reading */
uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */
};
/**