differential_pressure.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#include "differential_pressure.hpp"
#include <drivers/drv_airspeed.h>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <parameters/param.h>
#include <systemlib/err.h>
const char *const UavcanDifferentialPressureBridge::NAME = "differential_pressure";
UavcanDifferentialPressureBridge::UavcanDifferentialPressureBridge(uavcan::INode &node) :
UavcanSensorBridgeBase("uavcan_differential_pressure", ORB_ID(differential_pressure)),
_sub_air(node)
{
}
int UavcanDifferentialPressureBridge::init()
{
// Initialize the calibration offset
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
int res = _sub_air.start(AirCbBinder(this, &UavcanDifferentialPressureBridge::air_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
}
return 0;
}
void UavcanDifferentialPressureBridge::air_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::air_data::RawAirData> &msg)
{
_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_UAVCAN;
_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
float diff_press_pa = msg.differential_pressure;
float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
differential_pressure_s report = {
.timestamp = hrt_absolute_time(),
.error_count = 0,
.differential_pressure_raw_pa = diff_press_pa - _diff_pres_offset,
.differential_pressure_filtered_pa = _filter.apply(diff_press_pa) - _diff_pres_offset, /// TODO: Create filter
.temperature = temperature_c,
.device_id = _device_id.devid
};
publish(msg.getSrcNodeID().get(), &report);
}