rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

Baro calibration

Browse Source
This commit is contained in:
Corvus Corax 2012-04-18 10:48:31 +02:00
parent 3da88601a1
commit d125abf335
5 changed files with 52 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

51
flight/Modules/Airspeed/revolution/airspeed.c
View File

@ -48,6 +48,9 @@
#define STACK_SIZE_BYTES 500
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
#define SAMPLING_DELAY_MS 50
#define CALIBRATION_IDLE 40
#define CALIBRATION_COUNT 40
#define ETS_AIRSPEED_SCALE 1.8f
// Private types
@ -111,18 +114,54 @@ static void airspeedTask(void *parameters)
{
BaroAirspeedData data;
// TODO: Check the pressure sensor and set a warning if it fails test
uint8_t calibrationCount = 0;
uint32_t calibrationSum = 0;
uint16_t calibrationMin = 0;
uint16_t calibrationMax = 0;
// Main task loop
while (1)
{
float airspeed;
// Update the airspeed
vTaskDelay(SAMPLING_DELAY_MS);
airspeed = PIOS_ETASV3_ReadAirspeed();
data.Airspeed = airspeed;
BaroAirspeedGet(&data);
data.SensorValue = PIOS_ETASV3_ReadAirspeed();
if (data.SensorValue==-1) {
data.Connected = BAROAIRSPEED_CONNECTED_FALSE;
data.Airspeed = 0;
BaroAirspeedSet(&data);
continue;
}
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;
}
}
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;
}
// Update the AirspeedActual UAVObject
BaroAirspeedSet(&data);

16
flight/PiOS/Common/pios_etasv3.c
View File

@ -35,21 +35,9 @@
#include "pios_etasv3.h"
static bool PIOS_ETASV3_Read(uint8_t command, uint8_t * buffer, uint8_t len)
static bool PIOS_ETASV3_Read(uint8_t * buffer, uint8_t len)
{
uint8_t cmd_buffer[] = {
command,
};
const struct pios_i2c_txn txn_list[] = {
/*{
.info = __func__,
.addr = ETASV3_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = sizeof(cmd_buffer),
.buf = cmd_buffer,
}
,*/
{
.info = __func__,
.addr = ETASV3_I2C_ADDR,
@ -66,7 +54,7 @@ int16_t PIOS_ETASV3_ReadAirspeed (void)
{
uint8_t airspeed_raw[2];
if (PIOS_ETASV3_Read(ETASV3_I2C_READ_CMD, airspeed_raw, sizeof(airspeed_raw)) != 0) {
if (PIOS_ETASV3_Read(airspeed_raw, sizeof(airspeed_raw)) != 0) {
/* Failed to read airspeed */
return -1;
}

1
flight/PiOS/inc/pios_etasv3.h
View File

@ -29,7 +29,6 @@
*/
#define ETASV3_I2C_ADDR 0x75
#define ETASV3_I2C_READ_CMD 0x07
int16_t PIOS_ETASV3_ReadAirspeed (void);

1
flight/PiOS/pios.h
View File

@ -100,6 +100,7 @@
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#include <pios_etasv3.h>
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif

4
shared/uavobjectdefinition/baroairspeed.xml
View File

@ -1,6 +1,10 @@
<xml>
<object name="BaroAirspeed" singleinstance="true" settings="false">
<description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description>
<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"/>