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move analog differential pressure to standalone optional driver

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This commit is contained in:
Daniel Agar
2021-01-15 11:48:58 -05:00
parent eed060f17b
commit 592b2e9dbe
10 changed files with 397 additions and 82 deletions
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src/modules/sensors/sensor_params.c
-14
View File
@@ -31,20 +31,6 @@
*
****************************************************************************/
/**
* Differential pressure sensor analog scaling
*
* Pick the appropriate scaling from the datasheet.
* this number defines the (linear) conversion from voltage
* to Pascal (pa). For the MPXV7002DP this is 1000.
*
* NOTE: If the sensor always registers zero, try switching
* the static and dynamic tubes.
*
* @group Sensor Calibration
*/
PARAM_DEFINE_FLOAT(SENS_DPRES_ANSC, 0);
/**
* Board rotation
*
src/modules/sensors/sensors.cpp
-65
View File
@@ -41,7 +41,6 @@
* @author Beat Küng <beat-kueng@gmx.net>
*/
#include <drivers/drv_adc.h>
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
@@ -59,7 +58,6 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_differential_pressure.h>
#include <uORB/topics/sensors_status_imu.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_imu.h>
@@ -124,11 +122,6 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
#if defined(ADC_AIRSPEED_VOLTAGE_CHANNEL)
uORB::Subscription _adc_report_sub {ORB_ID(adc_report)};
uORB::PublicationMulti<sensor_differential_pressure_s> _diff_pres_pub{ORB_ID(sensor_differential_pressure)}; /**< differential_pressure */
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
VotedSensorsUpdate _voted_sensors_update;
VehicleAcceleration _vehicle_acceleration;
@@ -146,14 +139,6 @@ private:
*/
void parameter_update_poll(bool forced = false);
/**
* Poll the ADC and update readings to suit.
*
* @param raw Combined sensor data structure into which
* data should be returned.
*/
void adc_poll();
void InitializeAirspeed();
void InitializeVehicleAirData();
void InitializeVehicleGPSPosition();
@@ -161,10 +146,6 @@ private:
void InitializeVehicleMagnetometer();
DEFINE_PARAMETERS(
#if defined(ADC_AIRSPEED_VOLTAGE_CHANNEL)
(ParamFloat<px4::params::SENS_DPRES_ANSC>) _param_sens_dpres_ansc,
#endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro,
(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
@@ -252,49 +233,6 @@ void Sensors::parameter_update_poll(bool forced)
}
}
void Sensors::adc_poll()
{
/* only read if not in HIL mode */
if (_hil_enabled) {
return;
}
#if defined(ADC_AIRSPEED_VOLTAGE_CHANNEL)
if (_param_sens_dpres_ansc.get() > 0.0f) {
adc_report_s adc;
if (_adc_report_sub.update(&adc)) {
/* Read add channels we got */
for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; i++) {
if (ADC_AIRSPEED_VOLTAGE_CHANNEL == adc.channel_id[i]) {
/* calculate airspeed, raw is the difference from */
const float voltage = (float)(adc.raw_data[i]) * adc.v_ref / adc.resolution * ADC_DP_V_DIV;
/**
* The voltage divider pulls the signal down, only act on
* a valid voltage from a connected sensor. Also assume a non-
* zero offset from the sensor if its connected.
*
* Notice: This won't work on devices which have PGA controlled
* vref. Those devices require no divider at all.
*/
if (voltage > 0.4f) {
sensor_differential_pressure_s diff_pres{};
diff_pres.timestamp_sample = adc.timestamp;
diff_pres.differential_pressure_pa = voltage * _param_sens_dpres_ansc.get();
diff_pres.temperature = NAN;
diff_pres.timestamp = hrt_absolute_time();
_diff_pres_pub.publish(diff_pres);
}
}
}
}
}
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
}
void Sensors::InitializeAirspeed()
{
if (_airspeed == nullptr) {
@@ -437,9 +375,6 @@ void Sensors::Run()
_voted_sensors_update.sensorsPoll(_sensor_combined);
// check analog airspeed
adc_poll();
if (_sensor_combined.timestamp != _sensor_combined_prev_timestamp) {
_voted_sensors_update.setRelativeTimestamps(_sensor_combined);