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[modules] air_data: init vars as unknown

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This commit is contained in:
Felix Ruess
2014-10-27 19:47:29 +01:00
parent b172e62c64
commit c743648f8d
3 changed files with 13 additions and 29 deletions
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conf/modules/air_data.xml
+1 -1
View File
@@ -21,7 +21,7 @@
<settings>
<dl_settings>
<dl_settings name="air_data">
<dl_setting min="800" max="1200" step="1" module="air_data/air_data" var="air_data.qnh" shortname="QNH" handler="SetQNH"/>
<dl_setting min="800" max="1200" step="1" module="air_data/air_data" var="air_data.qnh" shortname="QNH"/>
<dl_setting min="0.8" max="1.3" step="0.01" module="air_data/air_data" var="air_data.tas_factor" shortname="TASfactor" param="AIR_DATA_TAS_FACTOR"/>
<dl_setting min="0" max="1" step="1" var="air_data.calc_qnh_once" module="air_data/air_data" shortname="calcQNH"/>
<dl_setting min="0" max="1" step="1" var="air_data.calc_airspeed" module="air_data/air_data" shortname="calcAirspeed" param="AIR_DATA_CALC_AIRSPEED"/>
sw/airborne/modules/air_data/air_data.c
+8 -18
View File
@@ -91,9 +91,6 @@ PRINT_CONFIG_MSG("USE_AIRSPEED_AIR_DATA automatically set to TRUE")
* Internal variable to keep track of validity.
*/
/** TRUE if QNH has been set */
static bool_t qnh_set;
/** counter to check baro health */
static uint8_t baro_health_counter;
@@ -107,10 +104,9 @@ static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const flo
float h = stateGetPositionLla_f()->alt;
air_data.qnh = pprz_isa_ref_pressure_of_height_full(air_data.pressure, h) / 100.f;
air_data.calc_qnh_once = FALSE;
qnh_set = TRUE;
}
if (air_data.calc_amsl_baro && qnh_set) {
if (air_data.calc_amsl_baro && air_data.qnh > 0) {
air_data.amsl_baro = pprz_isa_height_of_pressure_full(air_data.pressure,
air_data.qnh * 100.f);
air_data.amsl_baro_valid = TRUE;
@@ -134,7 +130,7 @@ static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, const fl
static void temperature_cb(uint8_t __attribute__((unused)) sender_id, const float *temp)
{
air_data.temperature = *temp;
if (air_data.calc_tas_factor && baro_health_counter > 0) {
if (air_data.calc_tas_factor && baro_health_counter > 0 && air_data.pressure > 0) {
air_data.tas_factor = get_tas_factor(air_data.pressure, air_data.temperature);
}
}
@@ -171,13 +167,14 @@ void air_data_init(void)
air_data.amsl_baro_valid = FALSE;
/* initialize the output variables
* pressure and qnh to sea level conditions, rest to zero
* pressure, qnh, temperature and airspeed to invalid values,
* rest to zero
*/
air_data.pressure = PPRZ_ISA_SEA_LEVEL_PRESSURE;
air_data.qnh = PPRZ_ISA_SEA_LEVEL_PRESSURE / 100.0f;
air_data.pressure = -1.0f;
air_data.qnh = -1.0f;
air_data.airspeed = -1.0f;
air_data.temperature = -1000.0f;
air_data.differential = 0.0f;
air_data.temperature = 0.0f;
air_data.airspeed = 0.0f;
air_data.amsl_baro = 0.0f;
air_data.aoa = 0.0f;
air_data.sideslip = 0.0f;
@@ -185,7 +182,6 @@ void air_data_init(void)
air_data.wind_dir = 0.0f;
/* internal variables */
qnh_set = FALSE;
baro_health_counter = 0;
AbiBindMsgBARO_ABS(AIR_DATA_BARO_ABS_ID, &pressure_abs_ev, pressure_abs_cb);
@@ -219,12 +215,6 @@ void air_data_periodic(void)
}
}
void air_data_SetQNH(float qnh)
{
air_data.qnh = qnh;
qnh_set = TRUE;
}
/**
* Calculate equivalent airspeed from dynamic pressure.
sw/airborne/modules/air_data/air_data.h
+4 -10
View File
@@ -35,13 +35,13 @@
/** Air Data strucute */
struct AirData {
float pressure; ///< Static atmospheric pressure (Pa)
float pressure; ///< Static atmospheric pressure (Pa), -1 if unknown
float differential; ///< Differential pressure (total - static pressure) (Pa)
float temperature; ///< temperature in degrees Celcius
float temperature; ///< temperature in degrees Celcius, -1000 if unknown
float airspeed; ///< Conventional Air Speed (m/s)
float airspeed; ///< Conventional Air Speed 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
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
bool_t amsl_baro_valid; ///< TRUE if #amsl_baro is currently valid
bool_t calc_airspeed; ///< if TRUE, calculate airspeed from differential pressure
@@ -72,12 +72,6 @@ extern void air_data_periodic(void);
*/
extern float air_data_get_amsl(void);
/**
* Handler to set QNH manually.
* @param qnh QNH in hPa
*/
extern void air_data_SetQNH(float qnh);
/**
* Calculate equivalent airspeed from dynamic pressure.
* Dynamic pressure @f$q@f$ (also called impact pressure) is the