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ets airspeed: Support raw field

This commit is contained in:
Andrew Tridgell 2014-05-19 16:33:15 +10:00 committed by Lorenz Meier
parent b250e28abf
commit c945693054
1 changed files with 6 additions and 4 deletions
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10
src/drivers/ets_airspeed/ets_airspeed.cpp
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@ -154,8 +154,9 @@ ETSAirspeed::collect()
return ret;
}
uint16_t diff_pres_pa = val[1] << 8 | val[0];
if (diff_pres_pa == 0) {
uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
uint16_t diff_pres_pa;
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
@ -165,10 +166,10 @@ ETSAirspeed::collect()
return -1;
}
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
diff_pres_pa = 0;
} else {
diff_pres_pa -= _diff_pres_offset;
diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
}
// Track maximum differential pressure measured (so we can work out top speed).
@ -183,6 +184,7 @@ ETSAirspeed::collect()
// XXX we may want to smooth out the readings to remove noise.
report.differential_pressure_filtered_pa = (float)diff_pres_pa;
report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
report.temperature = -1000.0f;
report.voltage = 0;
report.max_differential_pressure_pa = _max_differential_pressure_pa;