From dc600e7d65df3d91fc1dabac33b6e264ef9185df Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 10 Jul 2013 20:58:47 +0200 Subject: [PATCH] First stab at IOCTL driven offset handling (in PA) for all airspeed sensors. Untested --- src/drivers/drv_airspeed.h | 9 ++++ src/drivers/ets_airspeed/ets_airspeed.cpp | 17 ++++-- src/modules/sensors/sensor_params.c | 2 +- src/modules/sensors/sensors.cpp | 64 ++++++++++------------- 4 files changed, 53 insertions(+), 39 deletions(-) diff --git a/src/drivers/drv_airspeed.h b/src/drivers/drv_airspeed.h index bffc35c62c..7bb9ee2af1 100644 --- a/src/drivers/drv_airspeed.h +++ b/src/drivers/drv_airspeed.h @@ -57,5 +57,14 @@ #define _AIRSPEEDIOCBASE (0x7700) #define __AIRSPEEDIOC(_n) (_IOC(_AIRSPEEDIOCBASE, _n)) +#define AIRSPEEDIOCSSCALE __AIRSPEEDIOC(0) +#define AIRSPEEDIOCGSCALE __AIRSPEEDIOC(1) + + +/** airspeed scaling factors; out = (in * Vscale) + offset */ +struct airspeed_scale { + float offset_pa; + float scale; +}; #endif /* _DRV_AIRSPEED_H */ diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index b34d3fa5d9..da449c195a 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -129,7 +129,7 @@ private: bool _sensor_ok; int _measure_ticks; bool _collect_phase; - int _diff_pres_offset; + float _diff_pres_offset; orb_advert_t _airspeed_pub; @@ -358,6 +358,19 @@ ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg) /* XXX implement this */ return -EINVAL; + case AIRSPEEDIOCSSCALE: { + 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; + } + default: /* give it to the superclass */ return I2C::ioctl(filp, cmd, arg); @@ -464,8 +477,6 @@ ETSAirspeed::collect() uint16_t diff_pres_pa = val[1] << 8 | val[0]; - // XXX move the parameter read out of the driver. - param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset); if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { diff_pres_pa = 0; diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index f6f4d60c76..57f1de1acf 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -68,7 +68,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); -PARAM_DEFINE_INT32(SENS_DPRES_OFF, 1667); +PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 1667); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 1ded14a91c..29f9de883f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -60,6 +60,7 @@ #include #include #include +#include #include #include @@ -199,7 +200,7 @@ private: float mag_scale[3]; float accel_offset[3]; float accel_scale[3]; - int diff_pres_offset_pa; + float diff_pres_offset_pa; int rc_type; @@ -230,6 +231,8 @@ private: float rc_scale_flaps; float battery_voltage_scaling; + + int airspeed_offset; } _parameters; /**< local copies of interesting parameters */ struct { @@ -278,6 +281,8 @@ private: param_t rc_scale_flaps; param_t battery_voltage_scaling; + + param_t airspeed_offset; } _parameter_handles; /**< handles for interesting parameters */ @@ -551,25 +556,11 @@ Sensors::parameters_update() /* rc values */ for (unsigned int i = 0; i < RC_CHANNELS_MAX; i++) { - if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) { - warnx("Failed getting min for chan %d", i); - } - - if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) { - warnx("Failed getting trim for chan %d", i); - } - - if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) { - warnx("Failed getting max for chan %d", i); - } - - if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) { - warnx("Failed getting rev for chan %d", i); - } - - if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) { - warnx("Failed getting dead zone for chan %d", i); - } + param_get(_parameter_handles.min[i], &(_parameters.min[i])); + param_get(_parameter_handles.trim[i], &(_parameters.trim[i])); + param_get(_parameter_handles.max[i], &(_parameters.max[i])); + param_get(_parameter_handles.rev[i], &(_parameters.rev[i])); + param_get(_parameter_handles.dz[i], &(_parameters.dz[i])); _parameters.scaling_factor[i] = (1.0f / ((_parameters.max[i] - _parameters.min[i]) / 2.0f) * _parameters.rev[i]); @@ -659,21 +650,10 @@ Sensors::parameters_update() warnx("Failed getting mode aux 5 index"); } - if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) { - warnx("Failed getting rc scaling for roll"); - } - - if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) { - warnx("Failed getting rc scaling for pitch"); - } - - if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) { - warnx("Failed getting rc scaling for yaw"); - } - - if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) { - warnx("Failed getting rc scaling for flaps"); - } + param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)); + param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); + param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); + param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); /* update RC function mappings */ _rc.function[THROTTLE] = _parameters.rc_map_throttle - 1; @@ -1033,6 +1013,20 @@ Sensors::parameter_update_poll(bool forced) close(fd); + fd = open(AIRSPEED_DEVICE_PATH, 0); + + /* this sensor is optional, abort without error */ + + if (fd > 0) { + struct airspeed_scale airscale = { + _parameters.diff_pres_offset_pa, + 1.0f, + }; + + if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) + warn("WARNING: failed to set scale / offsets for airspeed sensor"); + } + #if 0 printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]); printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);