forked from Archive/PX4-Autopilot
meas_airspeed: don't take the aboslute value
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@ -228,8 +228,10 @@ MEASAirspeed::collect()
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// the raw value still should be compensated for the known offset
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diff_press_pa_raw -= _diff_pres_offset;
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float diff_press_pa = fabsf(diff_press_pa_raw);
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/* don't take the absolute value because the calibration takes this into account and warns the user if the
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* tubes are connected backwards */
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float diff_press_pa = diff_press_pa_raw;
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/*
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note that we return both the absolute value with offset
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applied and a raw value without the offset applied. This
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@ -241,14 +243,8 @@ MEASAirspeed::collect()
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With the above calculation the MS4525 sensor will produce a
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positive number when the top port is used as a dynamic port
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and bottom port is used as the static port
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Also note that the _diff_pres_offset is applied before the
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fabsf() not afterwards. It needs to be done this way to
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prevent a bias at low speeds, but this also means that when
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setting a offset you must set it based on the raw value, not
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the offset value
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*/
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struct differential_pressure_s report;
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/* track maximum differential pressure measured (so we can work out top speed). */
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@ -345,7 +341,7 @@ MEASAirspeed::cycle()
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/**
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correct for 5V rail voltage if the system_power ORB topic is
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available
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See http://uav.tridgell.net/MS4525/MS4525-offset.png for a graph of
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offset versus voltage for 3 sensors
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*/
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@ -394,7 +390,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
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if (voltage_diff < -1.0f) {
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voltage_diff = -1.0f;
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}
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temperature -= voltage_diff * temp_slope;
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temperature -= voltage_diff * temp_slope;
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#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
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}
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