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fix for differential pressure sensors that take longer to start publishing

This commit is contained in:
fury1895 2024-02-20 17:16:22 +01:00
parent f554f6bf95
commit 4513652592
5 changed files with 17 additions and 21 deletions
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9
src/lib/systemlib/system_params.c
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@ -242,6 +242,15 @@ PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
*/
PARAM_DEFINE_INT32(SYS_HAS_NUM_DIST, 0);
/**
* Number of differential pressure sensors to check being available
*
* @group System
* @min 0
* @max 4
*/
PARAM_DEFINE_INT32(SYS_HAS_NUM_DPRS, 0);
/**
* Enable factory calibration mode
*

2
src/modules/airspeed_selector/airspeed_selector_main.cpp
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@ -298,7 +298,7 @@ AirspeedModule::Run()
// do not run the airspeed selector until 2s after system boot,
// as data from airspeed sensor and estimator may not be valid yet
if (_time_now_usec < 2_s) {
if (_time_now_usec < 3_s) {
return;
}

2
src/modules/logger/logged_topics.cpp
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@ -212,7 +212,7 @@ void LoggedTopics::add_default_topics()
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 200, 2);
add_topic_multi("differential_pressure", 1000, 2);
add_topic_multi("differential_pressure", 1000, 3);
add_topic_multi("distance_sensor", 1000, 2);
add_optional_topic_multi("sensor_accel", 1000, 4);
add_optional_topic_multi("sensor_baro", 1000, 4);

20
src/modules/sensors/sensors.cpp
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@ -60,7 +60,6 @@ Sensors::Sensors(bool hil_enabled) :
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
InitializeVehicleDifferentialPressure();
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
@ -69,7 +68,10 @@ Sensors::Sensors(bool hil_enabled) :
_parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
_parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
_number_of_differential_pressure_sensors = _param_sys_has_num_dprs.get();
for (int i = 0; i < _number_of_differential_pressure_sensors; i++) {
_airspeed_pubs[i].advertise();
_diff_pres_data[i].airspeed_validator.set_timeout(300000);
_diff_pres_data[i].airspeed_validator.set_equal_value_threshold(100);
}
@ -444,22 +446,6 @@ void Sensors::InitializeVehicleAirData()
}
#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
void Sensors::InitializeVehicleDifferentialPressure()
{
// check for connected differential pressure sensors
for (int i = 0; i < _differential_pressure_subs.size(); i++) {
if (!_differential_pressure_subs[i].advertised()) {
break;
}
_airspeed_pubs[i].advertise();
_number_of_differential_pressure_sensors = i + 1;
}
}
#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
void Sensors::InitializeVehicleGPSPosition()
{

5
src/modules/sensors/sensors.hpp
View File

@ -125,8 +125,6 @@ private:
void InitializeVehicleAirData();
void InitializeVehicleDifferentialPressure();
void InitializeVehicleGPSPosition();
void InitializeVehicleIMU();
@ -265,6 +263,9 @@ private:
#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
(ParamInt<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
(ParamInt<px4::params::SYS_HAS_NUM_DPRS>) _param_sys_has_num_dprs,
#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
)
};