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[sensors] Fix airspeed ets to work with air_data module (#2733)

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Freek van Tienen
2021-05-26 11:14:23 +02:00
committed by GitHub
parent 18945fffcc
commit 050b4ab6ea
4 changed files with 11 additions and 3 deletions
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conf/airframes/tudelft/neddrone4.xml
+1 -3
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@@ -22,10 +22,7 @@
</module> </module>
<module name="airspeed_ets.xml"> <module name="airspeed_ets.xml">
<define name="USE_I2C4"/>
<configure name="AIRSPEED_ETS_I2C_DEV" value="I2C4"/> <configure name="AIRSPEED_ETS_I2C_DEV" value="I2C4"/>
<define name="AIRSPEED_ETS_SYNC_SEND"/>
<define name="USE_AIRSPEED_ETS" value="TRUE"/>
<define name="AIRSPEED_ETS_SCALE" value="1.24"/> <define name="AIRSPEED_ETS_SCALE" value="1.24"/>
</module> </module>
@@ -351,6 +348,7 @@
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/> <define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/> <define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/> <define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="BAT_NB_CELLS" value="6"/>
</section> </section>
</airframe> </airframe>
conf/airframes/tudelft/neddrone5.xml
+1
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@@ -357,6 +357,7 @@
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/> <define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/> <define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/> <define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="BAT_NB_CELLS" value="6"/>
</section> </section>
</airframe> </airframe>
sw/airborne/modules/sensors/airspeed_ets.c
+5
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@@ -45,6 +45,7 @@
#include "mcu_periph/uart.h" #include "mcu_periph/uart.h"
#include "mcu_periph/sys_time.h" #include "mcu_periph/sys_time.h"
#include "pprzlink/messages.h" #include "pprzlink/messages.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/downlink.h" #include "subsystems/datalink/downlink.h"
#include <math.h> #include <math.h>
@@ -225,6 +226,10 @@ void airspeed_ets_read_event(void)
airspeed_ets += airspeed_ets_buffer[n]; airspeed_ets += airspeed_ets_buffer[n];
} }
airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG; airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG;
// Publish airspeed sensor
AbiSendMsgAIRSPEED(AIRSPEED_ETS_ID, airspeed_ets);
#if USE_AIRSPEED_ETS #if USE_AIRSPEED_ETS
stateSetAirspeed_f(airspeed_ets); stateSetAirspeed_f(airspeed_ets);
#endif #endif
sw/airborne/subsystems/abi_sender_ids.h
+4
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@@ -107,6 +107,10 @@
#define AIRSPEED_SDP3X_ID 3 #define AIRSPEED_SDP3X_ID 3
#endif #endif
#ifndef AIRSPEED_ETS_ID
#define AIRSPEED_ETS_ID 4
#endif
/* /*
* IDs of Incidence angles (message 24) * IDs of Incidence angles (message 24)
*/ */