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Merge branch 'andrecillo/OP-1273_PixHawk_airspeed_sensor_MS4525DO' into andrecillo/OP-1282_Eagletree_airspeed_sensor_I2C_alarms
Merged because both senosors should use the Airpeed alarm and andrecillo/OP-1282_Eagletree_airspeed_sensor_I2C_alarms is based on functionality implemented in andrecillo/OP-1273_PixHawk_airspeed_sensor_MS4525DO
This commit is contained in:
Andres
commit
ef78320112
@ -156,15 +156,15 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
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AirspeedSensorGet(&airspeedData);
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// if sensor type changed and the last sensor was
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// either Eagletree or PixHawk, reset I2C alarms
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// either Eagletree or PixHawk, reset Airspeed alarm
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if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
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switch (lastAirspeedSensorType) {
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// Eagletree or PixHawk => Reset I2C alams
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// Eagletree or PixHawk => Reset Airspeed alams
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
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AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
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AlarmsDefault(SYSTEMALARMS_ALARM_AIRSPEED);
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break;
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// else do not reset I2C alarms
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// else do not reset Airspeed alarm
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default: break;
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}
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lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
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@ -193,6 +193,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
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gps_airspeedGet(&airspeedData, &airspeedSettings);
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break;
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
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default:
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airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
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}
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@ -71,7 +71,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
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int8_t retVal = PIOS_MS4525DO_Request();
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if (retVal != 0) {
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AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
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AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
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return;
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}
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@ -84,16 +84,17 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
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retVal = baro_airspeedReadMS4525DO(airspeedSensor, airspeedSettings);
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switch (retVal) {
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case 0: AlarmsClear(SYSTEMALARMS_ALARM_I2C);
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case 0: AlarmsClear(SYSTEMALARMS_ALARM_AIRSPEED);
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break;
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case -4:
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case -5: AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
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case -5:
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case -7: AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
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break;
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case -1:
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case -2:
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case -3:
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case -6:
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default: AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
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default: AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
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}
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}
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@ -122,8 +123,7 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
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if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
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calibrationCount++;
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filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT);
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return retVal;
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return -7;
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} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
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calibrationCount++;
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// update filter register
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@ -136,7 +136,7 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
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AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
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calibrationCount = 0;
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}
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return retVal;
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return -7;
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}
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}
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Loading…
Reference in New Issue
Block a user