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Code Issues Releases Activity

OP-1273 I2C Alarm reset to default when AirspeedSensorType is changed. Small cosmetic corrections

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This commit is contained in:
Andres 2014-03-27 09:32:17 +01:00
parent e36f99f356
commit 8e26338f24
3 changed files with 28 additions and 10 deletions
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19
flight/modules/Airspeed/airspeed.c
View File

@ -60,7 +60,7 @@
static xTaskHandle taskHandle;
static bool airspeedEnabled = false;
static AirspeedSettingsData airspeedSettings;
static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = 0;
static int8_t airspeedADCPin = -1;
@ -118,6 +118,8 @@ int32_t AirspeedInitialize()
airspeedADCPin = i;
}
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
AirspeedSensorInitialize();
AirspeedSettingsInitialize();
@ -153,6 +155,21 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Update the airspeed object
AirspeedSensorGet(&airspeedData);
// if sensor type changed and the last sensor was
// either Eagletree or PixHawk, reset I2C alarms
if(airspeedSettings.AirspeedSensorType != lastAirspeedSensorType){
switch (lastAirspeedSensorType) {
// Eagletree or PixHawk => Reset I2C alams
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
break;
// else do not reset I2C alarms
default: break;
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
}
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:

12
flight/modules/Airspeed/baro_airspeed_ms4525do.c
View File

@ -44,9 +44,9 @@
#if defined(PIOS_INCLUDE_MS4525DO)
#define CALIBRATION_IDLE_MS 0 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
#define FILTER_SHIFT 5 // Barry Dorr filter parameter k
#define CALIBRATION_IDLE_MS 0 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
#define FILTER_SHIFT 5 // Barry Dorr filter parameter k
#define P0 101325.0f // standard pressure
#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7
@ -57,14 +57,13 @@
// Private types
// Private functions
// Private functions definitions
static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
// Private variables
static uint16_t calibrationCount = 0;
static uint32_t filter_reg; // Barry Dorr filter register
static uint32_t filter_reg = 0; // Barry Dorr filter register
void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
@ -99,6 +98,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
}
// Private functions
static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
// Check to see if airspeed sensor is returning airspeedSensor

7
flight/modules/StateEstimation/stateestimation.c
View File

@ -74,6 +74,7 @@
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
@ -85,6 +86,7 @@
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, a2, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
@ -108,6 +110,7 @@
s.a3 = states.shortname[2]; \
statename##Set(&s); \
}
#define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_2_DIMENSIONS(statename, shortname, a1, a2) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
statename##Data s; \
@ -117,8 +120,8 @@
statename##Set(&s); \
}
// Private types
// Private types
struct filterPipelineStruct;
typedef const struct filterPipelineStruct {
@ -392,8 +395,6 @@ static void StateEstimationCb(void)
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, TrueAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
// FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
// states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
// GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself