[paparazzi-commits] [5113] MEASURE_AIRSPEED define to make calibration flight not yet using the airspeed sensor

[Christophe De Wagter]

Revision: 5113
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5113
Author:   dewagter
Date:     2010-07-22 10:59:53 +0000 (Thu, 22 Jul 2010)
Log Message:
-----------
MEASURE_AIRSPEED define to make calibration flight not yet using the airspeed 
sensor

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/airspeed.c
    paparazzi3/trunk/sw/airborne/airspeed.h
    paparazzi3/trunk/sw/airborne/estimator.h

Modified: paparazzi3/trunk/sw/airborne/airspeed.c
===================================================================
--- paparazzi3/trunk/sw/airborne/airspeed.c     2010-07-22 10:43:06 UTC (rev 
5112)
+++ paparazzi3/trunk/sw/airborne/airspeed.c     2010-07-22 10:59:53 UTC (rev 
5113)
@@ -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_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);

Modified: paparazzi3/trunk/sw/airborne/airspeed.h
===================================================================
--- paparazzi3/trunk/sw/airborne/airspeed.h     2010-07-22 10:43:06 UTC (rev 
5112)
+++ paparazzi3/trunk/sw/airborne/airspeed.h     2010-07-22 10:59:53 UTC (rev 
5113)
@@ -3,7 +3,7 @@
 
 #include <inttypes.h>
 
-#ifdef USE_AIRSPEED
+#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED 
 extern uint16_t adc_airspeed_val;
 #endif
 

Modified: paparazzi3/trunk/sw/airborne/estimator.h
===================================================================
--- paparazzi3/trunk/sw/airborne/estimator.h    2010-07-22 10:43:06 UTC (rev 
5112)
+++ paparazzi3/trunk/sw/airborne/estimator.h    2010-07-22 10:59:53 UTC (rev 
5113)
@@ -120,7 +120,7 @@
 
 #endif
 
-#ifdef USE_AIRSPEED
+#if defined USE_AIRSPEED || defined MEASURE_AIRSPEED 
 #define EstimatorSetAirspeed(airspeed) { estimator_airspeed = airspeed; }
 #endif