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MEASURE_AIRSPEED define to make calibration flight not yet using the airspeed sensor

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This commit is contained in:
Christophe De Wagter
2010-07-22 10:59:53 +00:00
parent 770be62ba6
commit cb68a66bdb
3 changed files with 12 additions and 7 deletions
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sw/airborne/airspeed.c
+10 -5
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@@ -10,10 +10,8 @@
#include "airspeed_ets.h"
#endif
#ifdef USE_AIRSPEED
#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED
uint16_t adc_airspeed_val;
#else
#error "You compiled the airspeed.c file but did not USE_AIRSPEED, which is needed in other *.c files"
#endif
#ifdef ADC_CHANNEL_AIRSPEED
@@ -42,8 +40,15 @@ void airspeed_init( void ) {
void airspeed_update( void ) {
#ifndef SITL
#ifdef ADC_CHANNEL_AIRSPEED
adc_airspeed_val = (buf_airspeed.sum / buf_airspeed.av_nb_sample) - AIRSPEED_ZERO;
float airspeed = AIRSPEED_SCALE * adc_airspeed_val;
adc_airspeed_val = buf_airspeed.sum / buf_airspeed.av_nb_sample;
#ifdef AIRSPEED_QUADRATIC_SCALE
float airspeed = (adc_airspeed_val - AIRSPEED_BIAS);
if (airspeed <= 0.0f)
airspeed = 0.0f;
airspeed = sqrt(airspeed) * AIRSPEED_QUADRATIC_SCALE;
#else
float airspeed = AIRSPEED_SCALE * (adc_airspeed_val - AIRSPEED_BIAS);
#endif
EstimatorSetAirspeed(airspeed);
#elif defined(USE_AIRSPEED_ETS)
EstimatorSetAirspeed(airspeed_ets);
sw/airborne/airspeed.h
+1 -1
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@@ -3,7 +3,7 @@
#include <inttypes.h>
#ifdef USE_AIRSPEED
#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED
extern uint16_t adc_airspeed_val;
#endif
sw/airborne/estimator.h
+1 -1
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@@ -120,7 +120,7 @@ extern void alt_kalman( float );
#endif
#ifdef USE_AIRSPEED
#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED
#define EstimatorSetAirspeed(airspeed) { estimator_airspeed = airspeed; }
#endif