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Code Issues Releases Activity

Airspeed: fixed calculation math - no more zero zone

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This commit is contained in:
Corvus Corax 2012-04-18 14:41:41 +02:00
parent d125abf335
commit 1c3dc9c9e1
2 changed files with 2 additions and 18 deletions
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19
flight/Modules/Airspeed/revolution/airspeed.c
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@ -50,7 +50,7 @@
#define SAMPLING_DELAY_MS 50
#define CALIBRATION_IDLE 40
#define CALIBRATION_COUNT 40
#define ETS_AIRSPEED_SCALE 1.8f
#define ETS_AIRSPEED_SCALE 1.0f
// Private types
@ -116,8 +116,6 @@ static void airspeedTask(void *parameters)
uint8_t calibrationCount = 0;
uint32_t calibrationSum = 0;
uint16_t calibrationMin = 0;
uint16_t calibrationMax = 0;
// Main task loop
while (1)
@ -135,19 +133,12 @@ static void airspeedTask(void *parameters)
}
if (calibrationCount<CALIBRATION_IDLE) {
calibrationMin=data.SensorValue;
calibrationMax=data.SensorValue;
calibrationCount++;
} else if (calibrationCount<CALIBRATION_IDLE + CALIBRATION_COUNT) {
if (data.SensorValue<calibrationMin)
calibrationMin = data.SensorValue;
if (data.SensorValue>calibrationMax)
calibrationMax = data.SensorValue;
calibrationCount++;
calibrationSum += data.SensorValue;
if (calibrationCount==CALIBRATION_IDLE+CALIBRATION_COUNT) {
data.ZeroPoint = calibrationSum / CALIBRATION_COUNT;
data.ZeroZone = (calibrationMax - calibrationMin) / 2;
} else {
continue;
}
@ -155,13 +146,7 @@ static void airspeedTask(void *parameters)
data.Connected = BAROAIRSPEED_CONNECTED_TRUE;
int16_t tmp = abs(data.SensorValue - data.ZeroPoint) - data.ZeroZone;
if (tmp>0) {
data.Airspeed = ETS_AIRSPEED_SCALE * sqrtf((float)tmp);
} else {
data.Airspeed = 0;
}
data.Airspeed = ETS_AIRSPEED_SCALE * sqrtf((float)abs(data.SensorValue - data.ZeroPoint));
// Update the AirspeedActual UAVObject
BaroAirspeedSet(&data);

1
shared/uavobjectdefinition/baroairspeed.xml
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@ -4,7 +4,6 @@
<field name="Connected" units="" type="enum" elements="1" options="False,True"/>
<field name="SensorValue" units="raw" type="uint16" elements="1"/>
<field name="ZeroPoint" units="raw" type="uint16" elements="1"/>
<field name="ZeroZone" units="raw" type="uint16" elements="1"/>
<field name="Airspeed" units="m/s" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>