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airspeed_calibration: stop talking about Pa and and hashtags

This commit is contained in:
Julian Oes 2014-08-23 18:44:09 +02:00
parent 40fe9ab969
commit c6fb75f66f
2 changed files with 15 additions and 11 deletions
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8
src/drivers/meas_airspeed/meas_airspeed.cpp
View File

@ -232,6 +232,8 @@ MEASAirspeed::collect()
* tubes are connected backwards */ * tubes are connected backwards */
float diff_press_pa = diff_press_pa_raw; float diff_press_pa = diff_press_pa_raw;
warnx("diff preasure: %.4f", (double)diff_press_pa);
/* /*
note that we return both the absolute value with offset note that we return both the absolute value with offset
applied and a raw value without the offset applied. This applied and a raw value without the offset applied. This
@ -259,9 +261,9 @@ MEASAirspeed::collect()
report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa); report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa);
/* the dynamics of the filter can make it overshoot into the negative range */ /* the dynamics of the filter can make it overshoot into the negative range */
if (report.differential_pressure_filtered_pa < 0.0f) { //if (report.differential_pressure_filtered_pa < 0.0f) {
report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa); // report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa);
} //}
report.differential_pressure_raw_pa = diff_press_pa_raw; report.differential_pressure_raw_pa = diff_press_pa_raw;
report.max_differential_pressure_pa = _max_differential_pressure_pa; report.max_differential_pressure_pa = _max_differential_pressure_pa;

18
src/modules/commander/airspeed_calibration.cpp
View File

@ -180,11 +180,13 @@ int do_airspeed_calibration(int mavlink_fd)
return ERROR; return ERROR;
} }
mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset); mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */ /* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000); usleep(500 * 1000);
mavlink_log_critical(mavlink_fd, "Create airflow now");
calibration_counter = 0; calibration_counter = 0;
const unsigned maxcount = 3000; const unsigned maxcount = 3000;
@ -204,18 +206,18 @@ int do_airspeed_calibration(int mavlink_fd)
calibration_counter++; calibration_counter++;
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) { if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 100 == 0) { if (calibration_counter % 500 == 0) {
mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)", mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa); (int)diff_pres.differential_pressure_raw_pa);
} }
continue; continue;
} }
/* do not allow negative values */ /* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) { if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)", mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
(int)diff_pres.differential_pressure_raw_pa); mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa); (int)diff_pres.differential_pressure_raw_pa);
close(diff_pres_sub); close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */ /* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@ -236,7 +238,7 @@ int do_airspeed_calibration(int mavlink_fd)
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name); mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
return ERROR; return ERROR;
} else { } else {
mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)", mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa); (int)diff_pres.differential_pressure_raw_pa);
break; break;
} }