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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1793_sensor_fixes' into next

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This commit is contained in:
Alessio Morale 2015-03-20 22:43:33 +01:00
commit 2a45f58fea
2 changed files with 28 additions and 12 deletions
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19
flight/modules/Sensors/sensors.c
View File

@ -411,9 +411,9 @@ static void handleAccel(float *samples, float temperature)
AccelSensorData accelSensorData;
updateAccelTempBias(temperature);
float accels_out[3] = { samples[0] * agcal.accel_scale.X - agcal.accel_bias.X - accel_temp_bias[0],
samples[1] * agcal.accel_scale.Y - agcal.accel_bias.Y - accel_temp_bias[1],
samples[2] * agcal.accel_scale.Z - agcal.accel_bias.Z - accel_temp_bias[2] };
float accels_out[3] = { (samples[0] - agcal.accel_bias.X) * agcal.accel_scale.X - accel_temp_bias[0],
(samples[1] - agcal.accel_bias.Y) * agcal.accel_scale.Y - accel_temp_bias[1],
(samples[2] - agcal.accel_bias.Z) * agcal.accel_scale.Z - accel_temp_bias[2] };
rot_mult(R, accels_out, samples);
accelSensorData.x = samples[0];
@ -485,7 +485,10 @@ static void updateAccelTempBias(float temperature)
if ((accel_temp_calibrated) && !accel_temp_calibration_count) {
accel_temp_calibration_count = TEMP_CALIB_INTERVAL;
if (accel_temp_calibrated) {
float ctemp = boundf(accel_temperature, agcal.temp_calibrated_extent.max, agcal.temp_calibrated_extent.min);
float ctemp = boundf(accel_temperature,
agcal.temp_calibrated_extent.max,
agcal.temp_calibrated_extent.min);
accel_temp_bias[0] = agcal.accel_temp_coeff.X * ctemp;
accel_temp_bias[1] = agcal.accel_temp_coeff.Y * ctemp;
accel_temp_bias[2] = agcal.accel_temp_coeff.Z * ctemp;
@ -588,8 +591,12 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
RevoSettingsBaroTempCorrectionExtentGet(&baroCorrectionExtent);
baro_temp_correction_enabled = !(baroCorrectionExtent.max - baroCorrectionExtent.min < 0.1f ||
(baroCorrection.a < 1e-9f && baroCorrection.b < 1e-9f && baroCorrection.c < 1e-9f && baroCorrection.d < 1e-9f));
baro_temp_correction_enabled =
(baroCorrectionExtent.max - baroCorrectionExtent.min > 0.1f &&
(fabsf(baroCorrection.a) > 1e-9f ||
fabsf(baroCorrection.b) > 1e-9f ||
fabsf(baroCorrection.c) > 1e-9f ||
fabsf(baroCorrection.d) > 1e-9f));
}
/**
* @}

21
flight/pios/common/pios_ms5611.c
View File

@ -42,7 +42,9 @@
#ifndef PIOS_MS5611_SLOW_TEMP_RATE
#define PIOS_MS5611_SLOW_TEMP_RATE 1
#endif
// Running moving average smoothing factor
#define PIOS_MS5611_TEMP_SMOOTHING 10
//
/* Local Types */
typedef struct {
uint16_t C[6];
@ -72,6 +74,7 @@ static uint32_t RawTemperature;
static uint32_t RawPressure;
static int64_t Pressure;
static int64_t Temperature;
static int64_t FilteredTemperature = INT32_MIN;
static int32_t lastConversionStart;
static uint32_t conversionDelayMs;
@ -247,6 +250,12 @@ int32_t PIOS_MS5611_ReadADC(void)
// Actual temperature (-40…85°C with 0.01°C resolution)
// TEMP = 20°C + dT * TEMPSENS = 2000 + dT * C6 / 2^23
Temperature = 2000l + ((deltaTemp * CalibData.C[5]) / POW2(23));
if (FilteredTemperature != INT32_MIN) {
FilteredTemperature = (FilteredTemperature * (PIOS_MS5611_TEMP_SMOOTHING - 1)
+ Temperature) / PIOS_MS5611_TEMP_SMOOTHING;
} else {
FilteredTemperature = Temperature;
}
} else {
int64_t Offset;
int64_t Sens;
@ -259,21 +268,21 @@ int32_t PIOS_MS5611_ReadADC(void)
return -2;
}
// check if temperature is less than 20°C
if (Temperature < 2000) {
if (FilteredTemperature < 2000) {
// Apply compensation
// T2 = dT^2 / 2^31
// OFF2 = 5 ⋅ (TEMP – 2000)^2/2
// SENS2 = 5 ⋅ (TEMP – 2000)^2/2^2
int64_t tcorr = (Temperature - 2000) * (Temperature - 2000);
int64_t tcorr = (FilteredTemperature - 2000) * (FilteredTemperature - 2000);
Offset2 = (5 * tcorr) / 2;
Sens2 = (5 * tcorr) / 4;
compensation_t2 = (deltaTemp * deltaTemp) >> 31;
// Apply the "Very low temperature compensation" when temp is less than -15°C
if (Temperature < -1500) {
if (FilteredTemperature < -1500) {
// OFF2 = OFF2 + 7 ⋅ (TEMP + 1500)^2
// SENS2 = SENS2 + 11 ⋅ (TEMP + 1500)^2 / 2
int64_t tcorr2 = (Temperature + 1500) * (Temperature + 1500);
int64_t tcorr2 = (FilteredTemperature + 1500) * (FilteredTemperature + 1500);
Offset2 += 7 * tcorr2;
Sens2 += (11 * tcorr2) / 2;
}
@ -302,7 +311,7 @@ int32_t PIOS_MS5611_ReadADC(void)
static float PIOS_MS5611_GetTemperature(void)
{
// Apply the second order low and very low temperature compensation offset
return ((float)(Temperature - compensation_t2)) / 100.0f;
return ((float)(FilteredTemperature - compensation_t2)) / 100.0f;
}
/**