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[air_data] use CAS/EAS for airspeed and send TAS in message

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Gautier Hattenberger
2015-04-01 22:09:11 +02:00
parent b7cb5fd39a
commit 1bf6bdebe8
3 changed files with 13 additions and 10 deletions
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conf/messages.xml
+7 -7
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@@ -1942,13 +1942,13 @@
</message>
<message name="AIR_DATA" id="222">
<field name="pressure" type="float" unit="Pa"/>
<field name="diff_p" type="float" unit="Pa"/>
<field name="temp" type="float" unit="deg celcius"/>
<field name="qnh" type="float" unit="hPa"/>
<field name="amsl_baro" type="float" unit="m"/>
<field name="airspeed" type="float" unit="m/s"/>
<field name="tas_factor" type="float"/>
<field name="pressure" type="float" unit="Pa">static pressure</field>
<field name="diff_p" type="float" unit="Pa">differential pressure</field>
<field name="temp" type="float" unit="deg celcius">air temperature</field>
<field name="qnh" type="float" unit="hPa">barometric pressure adjusted to sea level</field>
<field name="amsl_baro" type="float" unit="m">barometric altitude above mean sea level</field>
<field name="airspeed" type="float" unit="m/s">Equivalent Air Speed (or Calibrated Air Speed at low speed/altitude)</field>
<field name="tas" type="float">True Air Speed (when P, T and P_diff are available)</field>
</message>
<message name="AMSL" id="223">
sw/airborne/modules/air_data/air_data.c
+4 -2
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@@ -126,7 +126,8 @@ static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, float pr
{
air_data.differential = pressure;
if (air_data.calc_airspeed) {
air_data.airspeed = tas_from_dynamic_pressure(air_data.differential);
air_data.airspeed = eas_from_dynamic_pressure(air_data.differential);
air_data.tas = tas_from_eas(air_data.airspeed);
#if USE_AIRSPEED_AIR_DATA
stateSetAirspeed_f(&air_data.airspeed);
#endif
@@ -156,7 +157,7 @@ static void send_air_data(struct transport_tx *trans, struct link_device *dev)
&air_data.pressure, &air_data.differential,
&air_data.temperature, &air_data.qnh,
&air_data.amsl_baro, &air_data.airspeed,
&air_data.tas_factor);
&air_data.tas);
}
static void send_amsl(struct transport_tx *trans, struct link_device *dev)
@@ -187,6 +188,7 @@ void air_data_init(void)
air_data.pressure = -1.0f;
air_data.qnh = -1.0f;
air_data.airspeed = -1.0f;
air_data.tas = -1.0f;
air_data.temperature = -1000.0f;
air_data.differential = 0.0f;
air_data.amsl_baro = 0.0f;
sw/airborne/modules/air_data/air_data.h
+2 -1
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@@ -39,7 +39,8 @@ struct AirData {
float differential; ///< Differential pressure (total - static pressure) (Pa)
float temperature; ///< temperature in degrees Celcius, -1000 if unknown
float airspeed; ///< Conventional Air Speed in m/s, -1 if unknown
float airspeed; ///< Equivalent Air Speed (equals to Calibrated Air Speed at low speed/altitude) (in m/s, -1 if unknown
float tas; ///< True Air Speed (TAS) in m/s, -1 if unknown
float tas_factor; ///< factor to convert equivalent airspeed (EAS) to true airspeed (TAS)
float qnh; ///< Barometric pressure adjusted to sea level in hPa, -1 if unknown
float amsl_baro; ///< altitude above sea level in m from pressure and QNH