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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1329_airspeed_fixes' into next

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This commit is contained in:
Alessio Morale 2014-05-15 20:30:10 +02:00
commit 7182fe0194
2 changed files with 21 additions and 9 deletions
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28
flight/modules/Airspeed/airspeed.c
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@ -60,7 +60,7 @@
static xTaskHandle taskHandle; static xTaskHandle taskHandle;
static bool airspeedEnabled = false; static bool airspeedEnabled = false;
static AirspeedSettingsData airspeedSettings; static AirspeedSettingsData airspeedSettings;
static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = 0; static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = -1;
static int8_t airspeedADCPin = -1; static int8_t airspeedADCPin = -1;
@ -119,8 +119,6 @@ int32_t AirspeedInitialize()
} }
} }
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
AirspeedSensorInitialize(); AirspeedSensorInitialize();
AirspeedSettingsInitialize(); AirspeedSettingsInitialize();
@ -137,17 +135,14 @@ MODULE_INITCALL(AirspeedInitialize, AirspeedStart);
static void airspeedTask(__attribute__((unused)) void *parameters) static void airspeedTask(__attribute__((unused)) void *parameters)
{ {
AirspeedSettingsUpdatedCb(AirspeedSettingsHandle()); AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
bool gpsAirspeedInitialized = false;
AirspeedSensorData airspeedData; AirspeedSensorData airspeedData;
AirspeedSensorGet(&airspeedData); AirspeedSensorGet(&airspeedData);
AirspeedSettingsUpdatedCb(NULL); AirspeedSettingsUpdatedCb(NULL);
gps_airspeedInitialize();
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE; airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
// Main task loop // Main task loop
portTickType lastSysTime = xTaskGetTickCount(); portTickType lastSysTime = xTaskGetTickCount();
while (1) { while (1) {
@ -160,8 +155,21 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) { if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT); AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType; lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
switch (airspeedSettings.AirspeedSensorType) {
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
// AirspeedSensor will not be updated until a different sensor is selected
// set the disconencted satus now
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
AirspeedSensorSet(&airspeedData);
break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
if (!gpsAirspeedInitialized) {
gpsAirspeedInitialized = true;
gps_airspeedInitialize();
}
break;
}
} }
switch (airspeedSettings.AirspeedSensorType) { switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV) #if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002: case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
@ -186,6 +194,10 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
gps_airspeedGet(&airspeedData, &airspeedSettings); gps_airspeedGet(&airspeedData, &airspeedSettings);
break; break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE: case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
// no need to check so often until a sensor is enabled
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_DEFAULT);
vTaskDelay(2000 / portTICK_RATE_MS);
continue;
default: default:
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE; airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
break; break;

2
shared/uavobjectdefinition/airspeedsettings.xml
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@ -4,7 +4,7 @@
<field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/> <field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
<field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/> <field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
<field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/> <field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None" defaultvalue="GroundSpeedBasedWindEstimation"/> <field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None" defaultvalue="None"/>
<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" /> <field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>