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Code Issues Releases Activity

Airspeed module: use stored calibration if available

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This commit is contained in:
Corvus Corax 2012-11-05 10:59:06 +01:00
parent 5bf18780c1
commit 8f5b2954ac
2 changed files with 72 additions and 59 deletions
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41
flight/Modules/Airspeed/revolution/baro_airspeed_analog.c
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@ -66,35 +66,47 @@ void baro_airspeedGetAnalog(BaroAirspeedData *baroAirspeedData, portTickType *la
return; return;
} }
AirspeedSettingsData airspeedSettingsData;
AirspeedSettingsGet(&airspeedSettingsData);
//Wait until our turn //THIS SHOULD BE, IF OUR TURN GO IN, OTHERWISE CONTINUE //Wait until our turn //THIS SHOULD BE, IF OUR TURN GO IN, OTHERWISE CONTINUE
vTaskDelayUntil(lastSysTime, SAMPLING_DELAY_MS_MPXV / portTICK_RATE_MS); vTaskDelayUntil(lastSysTime, SAMPLING_DELAY_MS_MPXV / portTICK_RATE_MS);
//Calibrate sensor by averaging zero point value //THIS SHOULD NOT BE DONE IF THERE IS AN IN-AIR RESET. HOW TO DETECT THIS? if (!airspeedSettingsData.ZeroPoint) {
//Calibrate sensor by averaging zero point value
if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV) { //First let sensor warm up and stabilize. if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV) { //First let sensor warm up and stabilize.
calibrationCount++; calibrationCount++;
return; return;
} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_MPXV) { //Then compute the average. } else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_MPXV) { //Then compute the average.
calibrationCount++; /*DO NOT MOVE FROM BEFORE sensorCalibration=... LINE, OR ELSE WILL HAVE DIVIDE BY ZERO */ calibrationCount++; /*DO NOT MOVE FROM BEFORE sensorCalibration=... LINE, OR ELSE WILL HAVE DIVIDE BY ZERO */
uint16_t sensorCalibration; if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002) {
if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){ airspeedSettingsData.ZeroPoint=PIOS_MPXV7002_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
sensorCalibration=PIOS_MPXV7002_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV); PIOS_MPXV7002_UpdateCalibration(airspeedSettingsData.ZeroPoint); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
PIOS_MPXV7002_UpdateCalibration(sensorCalibration); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot. } else if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004) {
airspeedSettingsData.ZeroPoint=PIOS_MPXV5004_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
PIOS_MPXV5004_UpdateCalibration(airspeedSettingsData.ZeroPoint); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
} }
else if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
sensorCalibration=PIOS_MPXV5004_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
PIOS_MPXV5004_UpdateCalibration(sensorCalibration); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
}
baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_TRUE;
//Set settings UAVO. The airspeed UAVO is set elsewhere in the function. //Set settings UAVO. The airspeed UAVO is set elsewhere in the function.
if (calibrationCount == (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_MPXV) if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_MPXV)
AirspeedSettingsZeroPointSet(&sensorCalibration); AirspeedSettingsZeroPointSet(&airspeedSettingsData.ZeroPoint);
return; return;
} }
} else if (!calibrationCount) {
// do this only once
calibrationCount++;
if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002) {
PIOS_MPXV7002_UpdateCalibration(airspeedSettingsData.ZeroPoint); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
} else if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004) {
PIOS_MPXV5004_UpdateCalibration(airspeedSettingsData.ZeroPoint); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
}
return;
}
//Get CAS //Get CAS
float calibratedAirspeed=0; float calibratedAirspeed=0;
@ -131,6 +143,7 @@ void baro_airspeedGetAnalog(BaroAirspeedData *baroAirspeedData, portTickType *la
float filteredAirspeed = calibratedAirspeed*(alpha) + baroAirspeedData->CalibratedAirspeed*(1.0f-alpha); float filteredAirspeed = calibratedAirspeed*(alpha) + baroAirspeedData->CalibratedAirspeed*(1.0f-alpha);
//Set two values, one for the UAVO airspeed sensor reading, and the other for the GPS corrected one //Set two values, one for the UAVO airspeed sensor reading, and the other for the GPS corrected one
baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_TRUE;
baroAirspeedData->CalibratedAirspeed = filteredAirspeed; baroAirspeedData->CalibratedAirspeed = filteredAirspeed;
} }

6
flight/Modules/Airspeed/revolution/baro_airspeed_etasv3.c
View File

@ -80,13 +80,13 @@ void baro_airspeedGetETASV3(BaroAirspeedData *baroAirspeedData, portTickType *la
// only calibrate if no stored calibration is available // only calibrate if no stored calibration is available
if (!airspeedSettingsData.ZeroPoint) { if (!airspeedSettingsData.ZeroPoint) {
//Calibrate sensor by averaging zero point value //Calibrate sensor by averaging zero point value
if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_ETASV3) { if (calibrationCount <= CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_ETASV3) {
calibrationCount++; calibrationCount++;
return; return;
} else if (calibrationCount < (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) { } else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
calibrationCount++; calibrationCount++;
calibrationSum += baroAirspeedData->SensorValue; calibrationSum += baroAirspeedData->SensorValue;
if (calibrationCount == (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) { if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
airspeedSettingsData.ZeroPoint = (int16_t) (((float)calibrationSum) / CALIBRATION_COUNT_MS +0.5f); airspeedSettingsData.ZeroPoint = (int16_t) (((float)calibrationSum) / CALIBRATION_COUNT_MS +0.5f);
AirspeedSettingsZeroPointSet( &airspeedSettingsData.ZeroPoint ); AirspeedSettingsZeroPointSet( &airspeedSettingsData.ZeroPoint );