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update pressure board sensor and settings

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This commit is contained in:
Gautier Hattenberger
2010-11-23 16:08:41 +01:00
parent 660a802d82
commit 59ae731649
3 changed files with 37 additions and 5 deletions
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conf/settings/pbn.xml
+9
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@@ -0,0 +1,9 @@
<!DOCTYPE settings SYSTEM "settings.dtd">
<settings>
<dl_settings>
<dl_settings NAME="pbn">
<dl_setting MAX="30" MIN="0" STEP="1" module="sensors/pressure_board_navarro" VAR="airspeed_filter"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/modules/sensors/pressure_board_navarro.c
+27 -5
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@@ -46,6 +46,15 @@
/* Weight for offset IIR filter */
#define PBN_OFFSET_FILTER 7
/* Quadratic scale factor for airspeed */
#ifndef PBN_AIRSPEED_SCALE
#define PBN_AIRSPEED_SCALE (1./0.54)
#endif
/* Linear scale factor for altitude */
#ifndef PBN_ALTITUDE_SCALE
#define PBN_ALTITUDE_SCALE 0.32
#endif
// Global variables
uint16_t altitude_adc;
@@ -61,6 +70,7 @@ uint16_t altitude_offset;
uint16_t airspeed_offset;
float pbn_altitude;
float pbn_airspeed;
float airspeed_filter;
uint16_t startup_delay;
void pbn_init( void ) {
@@ -73,6 +83,7 @@ void pbn_init( void ) {
offset_cnt = OFFSET_NBSAMPLES_AVRG;
pbn_airspeed = 0.;
pbn_altitude = 0.;
airspeed_filter = PBN_OFFSET_FILTER;
}
@@ -106,20 +117,31 @@ void pbn_read_event( void ) {
if (offset_cnt > 0) {
// IIR filter to compute an initial offset
#ifndef PBN_AIRSPEED_OFFSET
airspeed_offset = (PBN_OFFSET_FILTER * airspeed_offset + airspeed_adc) / (PBN_OFFSET_FILTER + 1);
#else
airspeed_offset = PBN_AIRSPEED_OFFSET;
#endif
#ifndef PBN_ALTITUDE_OFFSET
altitude_offset = (PBN_OFFSET_FILTER * altitude_offset + altitude_adc) / (PBN_OFFSET_FILTER + 1);
#else
altitude_offset = PBN_ALTITUDE_OFFSET;
#endif
// decrease init counter
--offset_cnt;
}
else {
// Compute airspeed and altitude
pbn_airspeed = (-4.45 + sqrtf(19.84-0.57*(float)(airspeed_offset-airspeed_adc)))/0.28;
pbn_altitude = 0.32*(float)(altitude_adc-altitude_offset);
//pbn_airspeed = (-4.45 + sqrtf(19.84-0.57*(float)(airspeed_offset-airspeed_adc)))/0.28;
uint16_t diff = Max(airspeed_adc-airspeed_offset, 0);
float tmp_airspeed = sqrtf((float)diff * PBN_AIRSPEED_SCALE);
pbn_altitude = PBN_ALTITUDE_SCALE*(float)(altitude_adc-altitude_offset);
//estimator_airspeed = (7*estimator_airspeed + pbn_airspeed ) / 8;
//estimator_airspeed = Max(estimator_airspeed, 0.);
//EstimatorSetAirspeed(pbn_airspeed);
pbn_airspeed = (airspeed_filter*pbn_airspeed + tmp_airspeed) / (airspeed_filter + 1.);
#ifdef USE_AIRSPEED
EstimatorSetAirspeed(pbn_airspeed);
#endif
//alt_kalman(pbn_altitude);
}
sw/airborne/modules/sensors/pressure_board_navarro.h
+1
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@@ -43,6 +43,7 @@ extern uint16_t airspeed_adc;
extern uint16_t altitude_offset;
extern uint16_t airspeed_offset;
extern float pbn_altitude, pbn_airspeed;
extern float airspeed_filter;
extern bool_t data_valid;
extern struct i2c_transaction pbn_trans;