Mirrors_Framework/PX4-Autopilot
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remove commented code and change to sensor_baro topic to filter altitude

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This commit is contained in:
Mark Whitehorn
2016-02-26 16:57:20 -07:00
committed by Lorenz Meier
parent 6d509835eb
commit 95d328f57c
2 changed files with 7 additions and 9 deletions
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src/drivers/frsky_telemetry/frsky_telemetry.c
+7 -7
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@@ -57,7 +57,7 @@
#include <systemlib/systemlib.h>
#include <termios.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_baro.h>
#include "sPort_data.h"
#include "frsky_data.h"
@@ -67,7 +67,7 @@
static volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int frsky_task;
static struct sensor_combined_s sensor_raw;
static struct sensor_baro_s sensor_baro;
static float filtered_alt = NAN;
/* functions */
@@ -197,7 +197,7 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
char sbuf[20];
/* 2 byte polling frames indicate SmartPort telemetry
* 11 byte packets, indicate D type telemetry
* 11 byte packets indicate D type telemetry
*/
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
@@ -216,7 +216,7 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
warnx("sending FrSky SmartPort telemetry");
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
int sensor_sub = orb_subscribe(ORB_ID(sensor_baro));
/* send S.port telemetry */
while (!thread_should_exit) {
@@ -252,13 +252,13 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
orb_check(sensor_sub, &sensor_updated);
if (sensor_updated) {
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor_raw);
orb_copy(ORB_ID(sensor_baro), sensor_sub, &sensor_baro);
if (isnan(filtered_alt)) {
filtered_alt = sensor_raw.baro_alt_meter[0];
filtered_alt = sensor_baro.altitude;
} else {
filtered_alt = .05f * sensor_raw.baro_alt_meter[0] + .95f * filtered_alt;
filtered_alt = .05f * sensor_baro.altitude + .95f * filtered_alt;
}
}
src/drivers/frsky_telemetry/sPort_data.c
-2
View File
@@ -49,7 +49,6 @@
#include <arch/math.h>
#include <geo/geo.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
@@ -72,7 +71,6 @@ static struct vehicle_global_position_s global_pos;
*/
void sPort_init()
{
// battery_sub = orb_subscribe(ORB_ID(battery_status));
global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));