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[ms45xx] Harmonize airspeed, send pressure to air_data and downlink via telemetry (#3098)

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* [fix] Airspeed data different from airspeed state
* Update conf/modules/airspeed_ms45xx_i2c.xml
* [ms45xx] do not set state_speed but send to <air_data>, downlink now via telemetry.xml (no more sync send)
This commit is contained in:
Christophe De Wagter
2023-09-25 11:30:27 +02:00
committed by GitHub
parent 7bb581ddae
commit fda4ce96b1
16 changed files with 18 additions and 51 deletions
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conf/airframes/ENAC/cyfoam.xml
+1 -2
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@@ -130,8 +130,7 @@
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_AIRSPEED_SCALE" value="2.4"/>
<define name="USE_AIRSPEED_MS45XX" value="TRUE"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.546"/> <!-- 2.4 / 1.6327 * 1.0521 -->
</module>
<!--<module name="pwm_meas"/>-->
conf/airframes/ENAC/fixed-wing/zagi_mekf_wind.xml
-1
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@@ -83,7 +83,6 @@
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<!--define name="USE_AIRSPEED_MS45XX" value="TRUE"/-->
</module>
</firmware>
conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
+1 -1
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@@ -185,7 +185,7 @@
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/OPENUAS/openuas_eflite_t28.xml
+1 -1
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@@ -243,7 +243,7 @@ NOTES:
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/OPENUAS/openuas_multiplex_minimag.xml
+1 -1
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@@ -257,7 +257,7 @@ NOTES:
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml
+1 -1
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@@ -187,7 +187,7 @@ NOTES:
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/OPENUAS/openuas_own_flexo.xml
+1 -1
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@@ -220,7 +220,7 @@ NOTES:
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/OPENUAS/openuas_own_sumo_ii.xml
+1 -1
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@@ -222,7 +222,7 @@ NOTES:
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/OPENUAS/openuas_parrot_disco.xml
+1 -1
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@@ -255,7 +255,7 @@
(differential) pressure sensor module publishing the BARO_DIFF ABI message.
Make sure to disable other modules which otherwise directly set the
airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module,
define USE_AIRSPEED or USE_AIRSPEED_MS45XX to FALSE only when Airdata is set to TRUE
define USE_AIRSPEED to FALSE only when Airdata is set to TRUE
Sometimes one just wants to measure, and not yet use the airspeed in
a final navigational solution then also set it to FALSE
-->
conf/airframes/tudelft/cyfoam.xml
+1 -2
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@@ -233,8 +233,7 @@
<!--Use an airspeed sensor and get the measured airspeed in the messages-->
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_AIRSPEED_SCALE" value="2.4"/>
<define name="USE_AIRSPEED_MS45XX" value="TRUE"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.546"/> <!-- 2.4 / 1.6327 * 1.0521 -->
</module>
<module name="pwm_meas">
conf/airframes/tudelft/disco_rotorcraft_indi.xml
-2
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@@ -18,8 +18,6 @@
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="MS45XX_I2C_DEV" value="i2c1"/>
<define name="MS45XX_PRESSURE_RANVE" value="0.05"/>
<define name="USE_AIRSPEED_MS45XX" value="TRUE"/>
</module>
<define name="RADIO_TH_HOLD" value="RADIO_KILL"/> <!-- Throttle hold in command laws -->
conf/modules/air_data.xml
+1 -1
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@@ -8,7 +8,7 @@
Subscribes to BARO_ABS, BARO_DIFF and TEMPERATURE ABI messages and calculates QNH and true airspeed from it.
Also enables you to fly on "flight levels" using AMSL (AltitudeAboveSeaLevel) calculated from current pressure and QNH.
When using this module to provide airspeed you need a differential pressure sensor module publishing the BARO_DIFF ABI message. Make sure to disable other modules which otherwise directly set the airspeed in the state interface. E.g. when using the airspeed_ms45xx.xml module, define USE_AIRSPEED_MS45XX to FALSE.
When using this module to provide airspeed you need a differential pressure sensor module publishing the BARO_DIFF ABI message. Make sure to disable other modules which otherwise directly set the airspeed in the state interface.
</description>
<define name="AIR_DATA_BARO_ABS_ID" value="ABI_SENDER_ID" description="ABI sender id for absolute baro measurement (default: ABI_BROADCAST)"/>
<define name="AIR_DATA_BARO_DIFF_ID" value="ABI_SENDER_ID" description="ABI sender id for differential baro measurement (default: ABI_BROADCAST)"/>
conf/modules/airspeed_ms45xx_i2c.xml
+4 -6
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@@ -6,29 +6,27 @@
MS45XX differential or gauge type of pressure sensor for e.g measuring airspeed.
This sensor module is using the MS45xxDO digital pressure sensor with readings via I2C.
Needs to be a versions with 14bit pressure and 11bit temperature data output.
If the airspeed reading is badly calibrated, use the MS45XX_PRESSURE_SCALE to compensate.
Use the MS45XX_AIRSPEED_SCALE only to change air density.
</description>
<define name="MS45XX_I2C_DEV" value="i2cX" description="set i2c peripheral (default: i2c2)"/>
<define name="MS45XX_I2C_ADDR" value="0x50" description="i2c slave address (default: 0x50)"/>
<define name="MS45XX_PRESSURE_TYPE" value="0|1" description="Pressure Differential or Gauge, default is Differential"/>
<define name="MS45XX_PRESSURE_RANGE" value="1|2|4|5|10|15|20|30|50|100|150" description="pressure range in psi (default: 1)"/>
<define name="MS45XX_OUTPUT_TYPE" value="0|1" description="set to 0 for output type A, to 1 for output type B (default: type A)"/>
<define name="MS45XX_SYNC_SEND" value="TRUE|FALSE" description="flag to enable sending every new measurement via telemetry (default:FALSE)"/>
<define name="MS45XX_PRESSURE_SCALE" value="1.05" description="pressure scaling factor to convert raw output to Pa (default: set according to pressure range and output type according to datasheet)"/>
<define name="MS45XX_PRESSURE_OFFSET" value="8618.4" description="pressure offset in Pa (default: set according to pressure range and output type according to datasheet)"/>
<define name="MS45XX_AIRSPEED_SCALE" value="1.6327" description="quadratic scale factor to convert differential pressure to airspeed"/>
<define name="MS45XX_LOWPASS_TAU" value="0.15" description="Time constant for second order Butterworth low pass filter"/>
<define name="USE_AIRSPEED_MS45XX" value="TRUE|FALSE" description="Set airspeed in state interface for this sensor"/>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="MS45XX">
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ms45xx.sync_send" type="bool" shortname="sync_send" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_SYNC_SEND" persistent="true"/>
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ms45xx.autoset_offset" type="bool" shortname="autoset offset" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_SYNC_SEND" persistent="true"/>
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ms45xx.autoset_offset" type="bool" shortname="autoset offset" module="modules/sensors/airspeed_ms45xx_i2c" persistent="true"/>
<dl_setting min="0.9" max="1.2" step="0.01" var="ms45xx.pressure_scale" type="float" shortname="PressScale" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_PRESSURE_SCALE" persistent="true"/>
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ms45xx.pressure_type" type="bool" shortname="Type G" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_PRESSURE_TYPE" persistent="true"/>
<dl_setting min="8300.0" max="8900.0" step="0.1" var="ms45xx.pressure_offset" type="float" shortname="PressOffset" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_PRESSURE_OFFSET" persistent="true"/>
<dl_setting min="1.0" max="2.0" step="0.01" var="ms45xx.airspeed_scale" type="float" shortname="AirScale" module="modules/sensors/airspeed_ms45xx_i2c" param="MS45XX_AIRSPEED_SCALE" persistent="true"/>
</dl_settings>
</dl_settings>
</settings>
sw/airborne/boards/disco.h
-1
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@@ -97,7 +97,6 @@ extern struct video_config_t front_camera;
#define MS45XX_PRESSURE_TYPE 1
#define MS45XX_OUTPUT_TYPE 1
#define MS45XX_PRESSURE_OUTPUT_TYPE_InH2O 1
#define MS45XX_AIRSPEED_SCALE 1.6327
#ifndef USE_AIRSPEED_LOWPASS_FILTER
#define USE_AIRSPEED_LOWPASS_FILTER 1
#endif
sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
+4 -27
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@@ -39,17 +39,6 @@
#include "modules/datalink/telemetry.h"
#endif
#ifndef USE_AIRSPEED_MS45XX
#if USE_AIRSPEED
#define USE_AIRSPEED_MS45XX TRUE
PRINT_CONFIG_MSG("USE_AIRSPEED_MS45XX set to TRUE since this is set USE_AIRSPEED")
#endif
#endif
#if USE_AIRSPEED_MS45XX
#include "state.h"
#endif
/** Default I2C device
*/
#ifndef MS45XX_I2C_DEV
@@ -144,19 +133,15 @@ PRINT_CONFIG_VAR(MS45XX_PRESSURE_RANGE)
PRINT_CONFIG_VAR(MS45XX_PRESSURE_SCALE)
PRINT_CONFIG_VAR(MS45XX_PRESSURE_OFFSET)
/** Send a AIRSPEED_MS45XX message with every new measurement.
* Mainly for debugging, use with caution, sends message at ~100Hz.
*/
#ifndef MS45XX_SYNC_SEND
#define MS45XX_SYNC_SEND FALSE
#endif
/** Quadratic scale factor for indicated airspeed.
* airspeed = sqrt(2*p_diff/density)
* With p_diff in Pa and standard air density of 1.225 kg/m^3,
* default airspeed scale is 2/1.225
*/
#ifndef MS45XX_AIRSPEED_SCALE
#ifdef MS45XX_AIRSPEED_SCALE
#PRINT_CONFIG("MS45XX changed air density. PS: Use MS45XX_PRESSURE_SCALE to calibrate the MS45XX.")
#else
#define MS45XX_AIRSPEED_SCALE 1.6327
#endif
@@ -195,8 +180,6 @@ void ms45xx_i2c_init(void)
ms45xx.pressure_type = MS45XX_PRESSURE_TYPE;
ms45xx.pressure_scale = MS45XX_PRESSURE_SCALE;
ms45xx.pressure_offset = MS45XX_PRESSURE_OFFSET;
ms45xx.airspeed_scale = MS45XX_AIRSPEED_SCALE;
ms45xx.sync_send = MS45XX_SYNC_SEND;
ms45xx_trans.status = I2CTransDone;
// setup low pass filter with time constant and 100Hz sampling freq
@@ -286,14 +269,8 @@ void ms45xx_i2c_event(void)
float temp = ms45xx.temperature / 10.0f;
AbiSendMsgTEMPERATURE(MS45XX_SENDER_ID, temp);
// Compute airspeed
ms45xx.airspeed = sqrtf(Max(ms45xx.pressure * ms45xx.airspeed_scale, 0));
ms45xx.airspeed = sqrtf(Max(ms45xx.pressure, 0)) * MS45XX_AIRSPEED_SCALE;
#if USE_AIRSPEED_MS45XX
stateSetAirspeed_f(ms45xx.airspeed);
#endif
if (ms45xx.sync_send) {
ms45xx_downlink(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
}
}
// Set to done
sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h
-2
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@@ -34,11 +34,9 @@ struct AirspeedMs45xx {
uint16_t raw_p; ///< Raw pressure
float airspeed; ///< Airspeed in m/s estimated from (differential) pressure.
bool pressure_type; ///< Pressure type Differential of Gauge
float airspeed_scale; ///< Quadratic scale factor to convert (differential) pressure to airspeed
float pressure_scale; ///< Scaling factor from raw measurement to Pascal
float pressure_offset; ///< Offset in Pascal
bool autoset_offset; ///< Set offset value from current filtered value
bool sync_send; ///< Flag to enable sending every new measurement via telemetry for debugging purpose
};
extern struct AirspeedMs45xx ms45xx;