forked from Archive/PX4-Autopilot
Merge beta in master
This commit is contained in:
commit
53d4c5473f
|
@ -290,6 +290,7 @@ then
|
|||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
set FMU_MODE serial
|
||||
set GPS no
|
||||
fi
|
||||
fi
|
||||
unset HIL
|
||||
|
@ -320,6 +321,7 @@ then
|
|||
gps start
|
||||
fi
|
||||
fi
|
||||
unset GPS
|
||||
unset GPS_FAKE
|
||||
|
||||
# Needs to be this early for in-air-restarts
|
||||
|
|
|
@ -143,19 +143,19 @@ MODULES += examples/rover_steering_control
|
|||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
# https://px4.io/dev/px4_simple_app
|
||||
#MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
# https://px4.io/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
# https://px4.io/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
# https://px4.io/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
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|
||||
# Hardware test
|
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|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
@ -32,8 +32,9 @@
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|||
****************************************************************************/
|
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|
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/**
|
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* @file ets_airspeed.cpp
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* @author Simon Wilks
|
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* @file airspeed.cpp
|
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* @author Simon Wilks <simon@px4.io>
|
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* @author Lorenz Meier <lorenz@px4.io>
|
||||
*
|
||||
* Driver for the Eagle Tree Airspeed V3 connected via I2C.
|
||||
*/
|
||||
|
@ -76,7 +77,7 @@
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|||
|
||||
#include <drivers/airspeed/airspeed.h>
|
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|
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Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char* path) :
|
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Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const char *path) :
|
||||
I2C("Airspeed", path, bus, address, 100000),
|
||||
_reports(nullptr),
|
||||
_buffer_overflows(perf_alloc(PC_COUNT, "airspeed_buffer_overflows")),
|
||||
|
@ -105,12 +106,14 @@ Airspeed::~Airspeed()
|
|||
/* make sure we are truly inactive */
|
||||
stop();
|
||||
|
||||
if (_class_instance != -1)
|
||||
if (_class_instance != -1) {
|
||||
unregister_class_devname(AIRSPEED_BASE_DEVICE_PATH, _class_instance);
|
||||
}
|
||||
|
||||
/* free any existing reports */
|
||||
if (_reports != nullptr)
|
||||
if (_reports != nullptr) {
|
||||
delete _reports;
|
||||
}
|
||||
|
||||
// free perf counters
|
||||
perf_free(_sample_perf);
|
||||
|
@ -124,13 +127,15 @@ Airspeed::init()
|
|||
int ret = ERROR;
|
||||
|
||||
/* do I2C init (and probe) first */
|
||||
if (I2C::init() != OK)
|
||||
if (I2C::init() != OK) {
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* allocate basic report buffers */
|
||||
_reports = new ringbuffer::RingBuffer(2, sizeof(differential_pressure_s));
|
||||
if (_reports == nullptr)
|
||||
if (_reports == nullptr) {
|
||||
goto out;
|
||||
}
|
||||
|
||||
/* register alternate interfaces if we have to */
|
||||
_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
|
||||
|
@ -146,8 +151,9 @@ Airspeed::init()
|
|||
/* measurement will have generated a report, publish */
|
||||
_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
|
||||
|
||||
if (_airspeed_pub == nullptr)
|
||||
if (_airspeed_pub == nullptr) {
|
||||
warnx("uORB started?");
|
||||
}
|
||||
}
|
||||
|
||||
ret = OK;
|
||||
|
@ -166,7 +172,7 @@ Airspeed::probe()
|
|||
_retries = 4;
|
||||
int ret = measure();
|
||||
|
||||
// drop back to 2 retries once initialised
|
||||
// drop back to 2 retries once initialised
|
||||
_retries = 2;
|
||||
return ret;
|
||||
}
|
||||
|
@ -179,20 +185,20 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
case SENSORIOCSPOLLRATE: {
|
||||
switch (arg) {
|
||||
|
||||
/* switching to manual polling */
|
||||
/* switching to manual polling */
|
||||
case SENSOR_POLLRATE_MANUAL:
|
||||
stop();
|
||||
_measure_ticks = 0;
|
||||
return OK;
|
||||
|
||||
/* external signalling (DRDY) not supported */
|
||||
/* external signalling (DRDY) not supported */
|
||||
case SENSOR_POLLRATE_EXTERNAL:
|
||||
|
||||
/* zero would be bad */
|
||||
/* zero would be bad */
|
||||
case 0:
|
||||
return -EINVAL;
|
||||
|
||||
/* set default/max polling rate */
|
||||
/* set default/max polling rate */
|
||||
case SENSOR_POLLRATE_MAX:
|
||||
case SENSOR_POLLRATE_DEFAULT: {
|
||||
/* do we need to start internal polling? */
|
||||
|
@ -202,13 +208,14 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
_measure_ticks = USEC2TICK(_conversion_interval);
|
||||
|
||||
/* if we need to start the poll state machine, do it */
|
||||
if (want_start)
|
||||
if (want_start) {
|
||||
start();
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
/* adjust to a legal polling interval in Hz */
|
||||
default: {
|
||||
/* do we need to start internal polling? */
|
||||
bool want_start = (_measure_ticks == 0);
|
||||
|
@ -217,15 +224,17 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
unsigned ticks = USEC2TICK(1000000 / arg);
|
||||
|
||||
/* check against maximum rate */
|
||||
if (ticks < USEC2TICK(_conversion_interval))
|
||||
if (ticks < USEC2TICK(_conversion_interval)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
/* update interval for next measurement */
|
||||
_measure_ticks = ticks;
|
||||
|
||||
/* if we need to start the poll state machine, do it */
|
||||
if (want_start)
|
||||
if (want_start) {
|
||||
start();
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
@ -233,21 +242,25 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
}
|
||||
|
||||
case SENSORIOCGPOLLRATE:
|
||||
if (_measure_ticks == 0)
|
||||
if (_measure_ticks == 0) {
|
||||
return SENSOR_POLLRATE_MANUAL;
|
||||
}
|
||||
|
||||
return (1000 / _measure_ticks);
|
||||
|
||||
case SENSORIOCSQUEUEDEPTH: {
|
||||
/* lower bound is mandatory, upper bound is a sanity check */
|
||||
if ((arg < 1) || (arg > 100))
|
||||
if ((arg < 1) || (arg > 100)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
irqstate_t flags = irqsave();
|
||||
|
||||
if (!_reports->resize(arg)) {
|
||||
irqrestore(flags);
|
||||
return -ENOMEM;
|
||||
}
|
||||
|
||||
irqrestore(flags);
|
||||
|
||||
return OK;
|
||||
|
@ -261,16 +274,16 @@ Airspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return -EINVAL;
|
||||
|
||||
case AIRSPEEDIOCSSCALE: {
|
||||
struct airspeed_scale *s = (struct airspeed_scale*)arg;
|
||||
_diff_pres_offset = s->offset_pa;
|
||||
return OK;
|
||||
struct airspeed_scale *s = (struct airspeed_scale *)arg;
|
||||
_diff_pres_offset = s->offset_pa;
|
||||
return OK;
|
||||
}
|
||||
|
||||
case AIRSPEEDIOCGSCALE: {
|
||||
struct airspeed_scale *s = (struct airspeed_scale*)arg;
|
||||
s->offset_pa = _diff_pres_offset;
|
||||
s->scale = 1.0f;
|
||||
return OK;
|
||||
struct airspeed_scale *s = (struct airspeed_scale *)arg;
|
||||
s->offset_pa = _diff_pres_offset;
|
||||
s->scale = 1.0f;
|
||||
return OK;
|
||||
}
|
||||
|
||||
default:
|
||||
|
@ -287,8 +300,9 @@ Airspeed::read(struct file *filp, char *buffer, size_t buflen)
|
|||
int ret = 0;
|
||||
|
||||
/* buffer must be large enough */
|
||||
if (count < 1)
|
||||
if (count < 1) {
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
/* if automatic measurement is enabled */
|
||||
if (_measure_ticks > 0) {
|
||||
|
@ -369,6 +383,7 @@ Airspeed::update_status()
|
|||
|
||||
if (_subsys_pub != nullptr) {
|
||||
orb_publish(ORB_ID(subsystem_info), _subsys_pub, &info);
|
||||
|
||||
} else {
|
||||
_subsys_pub = orb_advertise(ORB_ID(subsystem_info), &info);
|
||||
}
|
||||
|
@ -402,6 +417,7 @@ Airspeed::print_info()
|
|||
void
|
||||
Airspeed::new_report(const differential_pressure_s &report)
|
||||
{
|
||||
if (!_reports->force(&report))
|
||||
if (!_reports->force(&report)) {
|
||||
perf_count(_buffer_overflows);
|
||||
}
|
||||
}
|
||||
|
|
|
@ -94,7 +94,7 @@
|
|||
class ETSAirspeed : public Airspeed
|
||||
{
|
||||
public:
|
||||
ETSAirspeed(int bus, int address = I2C_ADDRESS, const char* path = ETS_PATH);
|
||||
ETSAirspeed(int bus, int address = I2C_ADDRESS, const char *path = ETS_PATH);
|
||||
|
||||
protected:
|
||||
|
||||
|
@ -113,8 +113,8 @@ protected:
|
|||
*/
|
||||
extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
|
||||
|
||||
ETSAirspeed::ETSAirspeed(int bus, int address, const char* path) : Airspeed(bus, address,
|
||||
CONVERSION_INTERVAL, path)
|
||||
ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
|
||||
CONVERSION_INTERVAL, path)
|
||||
{
|
||||
|
||||
}
|
||||
|
@ -155,7 +155,8 @@ ETSAirspeed::collect()
|
|||
}
|
||||
|
||||
uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
|
||||
if (diff_pres_pa_raw == 0) {
|
||||
|
||||
if (diff_pres_pa_raw == 0) {
|
||||
// a zero value means the pressure sensor cannot give us a
|
||||
// value. We need to return, and not report a value or the
|
||||
// caller could end up using this value as part of an
|
||||
|
@ -163,7 +164,7 @@ ETSAirspeed::collect()
|
|||
perf_count(_comms_errors);
|
||||
DEVICE_LOG("zero value from sensor");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// The raw value still should be compensated for the known offset
|
||||
diff_pres_pa_raw -= _diff_pres_offset;
|
||||
|
@ -175,7 +176,7 @@ ETSAirspeed::collect()
|
|||
|
||||
differential_pressure_s report;
|
||||
report.timestamp = hrt_absolute_time();
|
||||
report.error_count = perf_event_count(_comms_errors);
|
||||
report.error_count = perf_event_count(_comms_errors);
|
||||
|
||||
// XXX we may want to smooth out the readings to remove noise.
|
||||
report.differential_pressure_filtered_pa = diff_pres_pa_raw;
|
||||
|
@ -210,6 +211,7 @@ ETSAirspeed::cycle()
|
|||
|
||||
/* perform collection */
|
||||
ret = collect();
|
||||
|
||||
if (OK != ret) {
|
||||
perf_count(_comms_errors);
|
||||
/* restart the measurement state machine */
|
||||
|
@ -239,6 +241,7 @@ ETSAirspeed::cycle()
|
|||
|
||||
/* measurement phase */
|
||||
ret = measure();
|
||||
|
||||
if (OK != ret) {
|
||||
DEVICE_DEBUG("measure error");
|
||||
}
|
||||
|
@ -287,26 +290,31 @@ start(int i2c_bus)
|
|||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr)
|
||||
if (g_dev != nullptr) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new ETSAirspeed(i2c_bus);
|
||||
|
||||
if (g_dev == nullptr)
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->Airspeed::init())
|
||||
if (OK != g_dev->Airspeed::init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
|
||||
|
@ -351,21 +359,24 @@ test()
|
|||
|
||||
int fd = open(ETS_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed (try 'ets_airspeed start' if the driver is not running", ETS_PATH);
|
||||
}
|
||||
|
||||
/* do a simple demand read */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "immediate read failed");
|
||||
}
|
||||
|
||||
warnx("single read");
|
||||
warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
}
|
||||
|
||||
/* read the sensor 5x and report each value */
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
|
@ -376,22 +387,25 @@ test()
|
|||
fds.events = POLLIN;
|
||||
ret = poll(&fds, 1, 2000);
|
||||
|
||||
if (ret != 1)
|
||||
if (ret != 1) {
|
||||
errx(1, "timed out waiting for sensor data");
|
||||
}
|
||||
|
||||
/* now go get it */
|
||||
sz = read(fd, &report, sizeof(report));
|
||||
|
||||
if (sz != sizeof(report))
|
||||
if (sz != sizeof(report)) {
|
||||
err(1, "periodic read failed");
|
||||
}
|
||||
|
||||
warnx("periodic read %u", i);
|
||||
warnx("diff pressure: %f pa", (double)report.differential_pressure_filtered_pa);
|
||||
}
|
||||
|
||||
/* reset the sensor polling to its default rate */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT))
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
errx(1, "failed to set default rate");
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
@ -404,14 +418,17 @@ reset()
|
|||
{
|
||||
int fd = open(ETS_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0)
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
@ -422,8 +439,9 @@ reset()
|
|||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr)
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
@ -462,32 +480,37 @@ ets_airspeed_main(int argc, char *argv[])
|
|||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "start"))
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
ets_airspeed::start(i2c_bus);
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop"))
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
ets_airspeed::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test"))
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
ets_airspeed::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset"))
|
||||
if (!strcmp(argv[1], "reset")) {
|
||||
ets_airspeed::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
|
||||
ets_airspeed::info();
|
||||
}
|
||||
|
||||
ets_airspeed_usage();
|
||||
exit(0);
|
||||
|
|
|
@ -138,7 +138,7 @@ 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),
|
||||
_t_system_power(-1),
|
||||
system_power{}
|
||||
|
@ -189,9 +189,11 @@ MEASAirspeed::collect()
|
|||
break;
|
||||
|
||||
case 1:
|
||||
/* fallthrough */
|
||||
|
||||
/* fallthrough */
|
||||
case 2:
|
||||
/* fallthrough */
|
||||
|
||||
/* fallthrough */
|
||||
case 3:
|
||||
perf_count(_comms_errors);
|
||||
perf_end(_sample_perf);
|
||||
|
@ -219,11 +221,11 @@ MEASAirspeed::collect()
|
|||
are generated when the bottom port is used as the static
|
||||
port on the pitot and top port is used as the dynamic port
|
||||
*/
|
||||
float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min);
|
||||
float diff_press_PSI = -((dp_raw - 0.1f * 16383) * (P_max - P_min) / (0.8f * 16383) + P_min);
|
||||
float diff_press_pa_raw = diff_press_PSI * PSI_to_Pa;
|
||||
|
||||
// correct for 5V rail voltage if possible
|
||||
voltage_correction(diff_press_pa_raw, temperature);
|
||||
// correct for 5V rail voltage if possible
|
||||
voltage_correction(diff_press_pa_raw, temperature);
|
||||
|
||||
// the raw value still should be compensated for the known offset
|
||||
diff_press_pa_raw -= _diff_pres_offset;
|
||||
|
@ -276,6 +278,7 @@ MEASAirspeed::cycle()
|
|||
|
||||
/* perform collection */
|
||||
ret = collect();
|
||||
|
||||
if (OK != ret) {
|
||||
/* restart the measurement state machine */
|
||||
start();
|
||||
|
@ -304,6 +307,7 @@ MEASAirspeed::cycle()
|
|||
|
||||
/* measurement phase */
|
||||
ret = measure();
|
||||
|
||||
if (OK != ret) {
|
||||
DEVICE_DEBUG("measure error");
|
||||
}
|
||||
|
@ -332,18 +336,23 @@ void
|
|||
MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
|
||||
{
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
|
||||
|
||||
if (_t_system_power == -1) {
|
||||
_t_system_power = orb_subscribe(ORB_ID(system_power));
|
||||
}
|
||||
|
||||
if (_t_system_power == -1) {
|
||||
// not available
|
||||
return;
|
||||
}
|
||||
|
||||
bool updated = false;
|
||||
orb_check(_t_system_power, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(system_power), _t_system_power, &system_power);
|
||||
}
|
||||
|
||||
if (system_power.voltage5V_v < 3.0f || system_power.voltage5V_v > 6.0f) {
|
||||
// not valid, skip correction
|
||||
return;
|
||||
|
@ -354,12 +363,15 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
|
|||
apply a piecewise linear correction, flattening at 0.5V from 5V
|
||||
*/
|
||||
float voltage_diff = system_power.voltage5V_v - 5.0f;
|
||||
|
||||
if (voltage_diff > 0.5f) {
|
||||
voltage_diff = 0.5f;
|
||||
}
|
||||
|
||||
if (voltage_diff < -0.5f) {
|
||||
voltage_diff = -0.5f;
|
||||
}
|
||||
|
||||
diff_press_pa -= voltage_diff * slope;
|
||||
|
||||
/*
|
||||
|
@ -367,12 +379,15 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
|
|||
*/
|
||||
const float temp_slope = 0.887f;
|
||||
voltage_diff = system_power.voltage5V_v - 5.0f;
|
||||
|
||||
if (voltage_diff > 0.5f) {
|
||||
voltage_diff = 0.5f;
|
||||
}
|
||||
|
||||
if (voltage_diff < -1.0f) {
|
||||
voltage_diff = -1.0f;
|
||||
}
|
||||
|
||||
temperature -= voltage_diff * temp_slope;
|
||||
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
|
||||
}
|
||||
|
|
|
@ -38,6 +38,7 @@
|
|||
MODULE_COMMAND = pwm_out_sim
|
||||
|
||||
SRCS = pwm_out_sim.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
|
|
@ -234,8 +234,13 @@ PWMSim::init()
|
|||
_task = px4_task_spawn_cmd("pwm_out_sim",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
<<<<<<< HEAD:src/drivers/pwm_out_sim/pwm_out_sim.cpp
|
||||
1200,
|
||||
(px4_main_t)&PWMSim::task_main_trampoline,
|
||||
=======
|
||||
1000,
|
||||
(main_t)&HIL::task_main_trampoline,
|
||||
>>>>>>> beta:src/drivers/hil/hil.cpp
|
||||
nullptr);
|
||||
|
||||
if (_task < 0) {
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
|
@ -1,7 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Example User <mail@example.com>
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
@ -35,6 +34,8 @@
|
|||
/**
|
||||
* @file px4_mavlink_debug.c
|
||||
* Debug application example for PX4 autopilot
|
||||
*
|
||||
* @author Example User <mail@example.com>
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
|
|
@ -1,7 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Example User <mail@example.com>
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
@ -35,6 +34,8 @@
|
|||
/**
|
||||
* @file px4_simple_app.c
|
||||
* Minimal application example for PX4 autopilot
|
||||
*
|
||||
* @author Example User <mail@example.com>
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
|
Loading…
Reference in New Issue