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Airspeed Filtering (#3360)

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* Airspeed Filtering

* Change to handler function
This commit is contained in:
Christophe De Wagter
2024-09-27 16:18:14 +02:00
committed by GitHub
parent c5316c14fb
commit c5b9678d77
3 changed files with 18 additions and 2 deletions
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sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
+14 -2
View File
@@ -200,12 +200,13 @@ void ms45xx_i2c_init(void)
ms45xx.pressure_type = MS45XX_PRESSURE_TYPE;
ms45xx.pressure_scale = MS45XX_PRESSURE_SCALE;
ms45xx.pressure_offset = MS45XX_PRESSURE_OFFSET;
ms45xx.lowpass_tau = MS45XX_LOWPASS_TAU;
ms45xx.offset_set = false;
ms45xx_trans.status = I2CTransDone;
// setup low pass filter with time constant and 100Hz sampling freq
#ifdef USE_AIRSPEED_LOWPASS_FILTER
init_butterworth_2_low_pass(&ms45xx_filter, MS45XX_LOWPASS_TAU,
init_butterworth_2_low_pass(&ms45xx_filter, ms45xx.lowpass_tau,
MS45XX_I2C_PERIODIC_PERIOD, 0);
#endif
@@ -219,6 +220,17 @@ void ms45xx_i2c_init(void)
#endif
}
void airspeed_ms45xx_i2c_change_tau(float new_tau)
{
ms45xx.lowpass_tau = new_tau;
#ifdef USE_AIRSPEED_LOWPASS_FILTER
init_butterworth_2_low_pass(&ms45xx_filter, ms45xx.lowpass_tau,
MS45XX_I2C_PERIODIC_PERIOD, get_butterworth_2_low_pass(&ms45xx_filter));
#endif
}
void ms45xx_i2c_periodic(void)
{
// Initiate next read
@@ -227,7 +239,7 @@ void ms45xx_i2c_periodic(void)
}
}
#define AUTOSET_NB_MAX 20
#define AUTOSET_NB_MAX 200
void ms45xx_i2c_event(void)
{
sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h
+3
View File
@@ -38,10 +38,13 @@ struct AirspeedMs45xx {
float pressure_offset; ///< Offset in Pascal
bool autoset_offset; ///< Set offset value from current filtered value
bool offset_set; ///< Offset is set once
float lowpass_tau; ///< Time constant for low pass filter
};
extern struct AirspeedMs45xx ms45xx;
extern void airspeed_ms45xx_i2c_change_tau(float new_tau);
extern void ms45xx_i2c_init(void);
extern void ms45xx_i2c_periodic(void);
extern void ms45xx_i2c_event(void);