Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-19 22:35:19 +03:00
Code Issues Wiki Activity

Rename pitotCalculateAirSpeed

Browse source
This commit is contained in:
JuliooCesarMDM 2022-08-16 21:11:53 -03:00
parent 1b003cc861
commit 9b5106aafe
17 changed files with 32 additions and 30 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/blackbox/blackbox.c
View file

@ -1627,7 +1627,7 @@ static void loadMainState(timeUs_t currentTimeUs)
#endif
#ifdef USE_PITOT
blackboxCurrent->airSpeed = pitot.airSpeed;
blackboxCurrent->airSpeed = getAirspeedEstimate();
#endif
#ifdef USE_RANGEFINDER

2
src/main/fc/fc_msp.c
View file

@ -1424,7 +1424,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
case MSP2_INAV_AIR_SPEED:
#ifdef USE_PITOT
sbufWriteU32(dst, pitot.airSpeed);
sbufWriteU32(dst, getAirspeedEstimate());
#else
sbufWriteU32(dst, 0);
#endif

10
src/main/flight/pid.c
View file

@ -997,15 +997,13 @@ static void NOINLINE pidTurnAssistant(pidState_t *pidState, float bankAngleTarge
// yaw_rate = tan(roll_angle) * Gravity / forward_vel
#if defined(USE_PITOT)
float airspeedForCoordinatedTurn = sensors(SENSOR_PITOT) ?
pitot.airSpeed :
pidProfile()->fixedWingReferenceAirspeed;
float airspeedForCoordinatedTurn = sensors(SENSOR_PITOT) ? getAirspeedEstimate() : pidProfile()->fixedWingReferenceAirspeed;
#else
float airspeedForCoordinatedTurn = pidProfile()->fixedWingReferenceAirspeed;
#endif
// Constrain to somewhat sane limits - 10km/h - 216km/h
airspeedForCoordinatedTurn = constrainf(airspeedForCoordinatedTurn, 300, 6000);
airspeedForCoordinatedTurn = constrainf(airspeedForCoordinatedTurn, 300.0f, 6000.0f);
// Calculate rate of turn in Earth frame according to FAA's Pilot's Handbook of Aeronautical Knowledge
bankAngleTarget = constrainf(bankAngleTarget, -DEGREES_TO_RADIANS(60), DEGREES_TO_RADIANS(60));
@ -1042,8 +1040,8 @@ static void NOINLINE pidTurnAssistant(pidState_t *pidState, float bankAngleTarge
static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAngle)
{
static uint8_t lastFpvCamAngleDegrees = 0;
static float cosCameraAngle = 1.0;
static float sinCameraAngle = 0.0;
static float cosCameraAngle = 1.0f;
static float sinCameraAngle = 0.0f;
if (lastFpvCamAngleDegrees != fpvCameraAngle) {
lastFpvCamAngleDegrees = fpvCameraAngle;

13
src/main/io/osd.c
View file

@ -2630,11 +2630,12 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_AIR_SPEED:
{
#ifdef USE_PITOT
const float airspeed_estimate = getAirspeedEstimate();
buff[0] = SYM_AIR;
osdFormatVelocityStr(buff + 1, pitot.airSpeed, false, false);
osdFormatVelocityStr(buff + 1, airspeed_estimate, false, false);
if ((osdConfig()->airspeed_alarm_min != 0 && pitot.airSpeed < osdConfig()->airspeed_alarm_min) ||
(osdConfig()->airspeed_alarm_max != 0 && pitot.airSpeed > osdConfig()->airspeed_alarm_max)) {
if ((osdConfig()->airspeed_alarm_min != 0 && airspeed_estimate < osdConfig()->airspeed_alarm_min) ||
(osdConfig()->airspeed_alarm_max != 0 && airspeed_estimate > osdConfig()->airspeed_alarm_max)) {
TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
}
#else
@ -3775,14 +3776,16 @@ static void osdUpdateStats(void)
if (feature(FEATURE_GPS)) {
value = osdGet3DSpeed();
const float airspeed_estimate = getAirspeedEstimate();
if (stats.max_3D_speed < value)
stats.max_3D_speed = value;
if (stats.max_speed < gpsSol.groundSpeed)
stats.max_speed = gpsSol.groundSpeed;
if (stats.max_air_speed < pitot.airSpeed)
stats.max_air_speed = pitot.airSpeed;
if (stats.max_air_speed < airspeed_estimate)
stats.max_air_speed = airspeed_estimate;
if (stats.max_distance < GPS_distanceToHome)
stats.max_distance = GPS_distanceToHome;

2
src/main/io/osd_canvas.c
View file

@ -517,7 +517,7 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
case OSD_SIDEBAR_SCROLL_SPEED:
{
#if defined(USE_GPS)
int speed = osdGetSpeedFromSelectedSource();
int16_t speed = osdGetSpeedFromSelectedSource();
switch ((osd_unit_e)osdConfig()->units) {
case OSD_UNIT_UK:
FALLTHROUGH;

4
src/main/io/osd_common.c
View file

@ -53,7 +53,7 @@ PG_RESET_TEMPLATE(osdCommonConfig_t, osdCommonConfig,
.speedSource = SETTING_OSD_SPEED_SOURCE_DEFAULT
);
int osdGetSpeedFromSelectedSource(void) {
int16_t osdGetSpeedFromSelectedSource(void) {
int speed = 0;
switch (osdCommonConfig()->speedSource) {
case OSD_SPEED_SOURCE_GROUND:
@ -64,7 +64,7 @@ int osdGetSpeedFromSelectedSource(void) {
break;
case OSD_SPEED_SOURCE_AIR:
#ifdef USE_PITOT
speed = pitot.airSpeed;
speed = (int16_t)getAirspeedEstimate();
#endif
break;
}

2
src/main/io/osd_common.h
View file

@ -45,7 +45,7 @@ typedef struct {
PG_DECLARE(osdCommonConfig_t, osdCommonConfig);
int osdGetSpeedFromSelectedSource(void);
int16_t osdGetSpeedFromSelectedSource(void);
#endif // defined(USE_OSD) || defined(USE_DJI_HD_OSD)

2
src/main/io/osd_dji_hd.c
View file

@ -689,7 +689,7 @@ void osdDJIFormatVelocityStr(char* buff)
case OSD_SPEED_SOURCE_AIR:
strcpy(sourceBuf, "AIR");
#ifdef USE_PITOT
vel = pitot.airSpeed;
vel = getAirspeedEstimate();
#endif
break;
}

6
src/main/navigation/navigation_fixedwing.c
View file

@ -596,12 +596,12 @@ bool isFixedWingAutoThrottleManuallyIncreased()
bool isFixedWingFlying(void)
{
float airspeed = 0;
float airspeed = 0.0f;
#ifdef USE_PITOT
airspeed = pitot.airSpeed;
airspeed = getAirspeedEstimate();
#endif
bool throttleCondition = getMotorCount() == 0 || rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle;
bool velCondition = posControl.actualState.velXY > 250 || airspeed > 250;
bool velCondition = posControl.actualState.velXY > 250.0f || airspeed > 250.0f;
bool launchCondition = isNavLaunchEnabled() && fixedWingLaunchStatus() == FW_LAUNCH_FLYING;
return (isImuHeadingValid() && throttleCondition && velCondition) || launchCondition;

2
src/main/navigation/navigation_pos_estimator.c
View file

@ -341,7 +341,7 @@ void updatePositionEstimator_BaroTopic(timeUs_t currentTimeUs)
*/
void updatePositionEstimator_PitotTopic(timeUs_t currentTimeUs)
{
posEstimator.pitot.airspeed = pitot.airSpeed;
posEstimator.pitot.airspeed = getAirspeedEstimate();
posEstimator.pitot.lastUpdateTime = currentTimeUs;
}
#endif

2
src/main/programming/logic_condition.c
View file

@ -504,7 +504,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
case LOGIC_CONDITION_OPERAND_FLIGHT_AIR_SPEED: // cm/s
#ifdef USE_PITOT
return constrain(pitot.airSpeed, 0, INT16_MAX);
return constrain(getAirspeedEstimate(), 0, INT16_MAX);
#else
return false;
#endif

5
src/main/sensors/pitotmeter.c
View file

@ -58,6 +58,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pitotmeterConfig_t, pitotmeterConfig, PG_PITOTME
#else
#define PITOT_HARDWARE_DEFAULT PITOT_NONE
#endif
PG_RESET_TEMPLATE(pitotmeterConfig_t, pitotmeterConfig,
.pitot_hardware = SETTING_PITOT_HARDWARE_DEFAULT,
.pitot_lpf_milli_hz = SETTING_PITOT_LPF_MILLI_HZ_DEFAULT,
@ -226,7 +227,7 @@ STATIC_PROTOTHREAD(pitotThread)
pitot.airSpeed = pitotmeterConfig()->pitot_scale * fast_fsqrtf(2.0f * fabsf(pitot.pressure - pitot.pressureZero) / SSL_AIR_DENSITY) * 100;
} else {
performPitotCalibrationCycle();
pitot.airSpeed = 0;
pitot.airSpeed = 0.0f;
}
}
@ -238,7 +239,7 @@ void pitotUpdate(void)
pitotThread();
}
int32_t pitotCalculateAirSpeed(void)
float getAirspeedEstimate(void)
{
return pitot.airSpeed;
}

2
src/main/sensors/pitotmeter.h
View file

@ -65,7 +65,7 @@ bool pitotInit(void);
bool pitotIsCalibrationComplete(void);
void pitotStartCalibration(void);
void pitotUpdate(void);
int32_t pitotCalculateAirSpeed(void);
float getAirspeedEstimate(void);
bool pitotIsHealthy(void);
#endif

2
src/main/telemetry/ibus_shared.c
View file

@ -169,7 +169,7 @@ static uint8_t dispatchMeasurementRequest(ibusAddress_t address) {
return sendIbusMeasurement2(address, (uint16_t) (attitude.values.roll * 10)); //in ddeg -> cdeg, 1ddeg = 10cdeg
} else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_VSPEED) { //Speed cm/s
#ifdef USE_PITOT
if (sensors(SENSOR_PITOT)) return sendIbusMeasurement2(address, (uint16_t) (pitot.airSpeed)); //int32_t
if (sensors(SENSOR_PITOT)) return sendIbusMeasurement2(address, (uint16_t)getAirspeedEstimate()); //int32_t
else
#endif
return sendIbusMeasurement2(address, 0);

2
src/main/telemetry/ltm.c
View file

@ -189,7 +189,7 @@ void ltm_sframe(sbuf_t *dst)
sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF)); // current mAh (65535 mAh max)
sbufWriteU8(dst, (uint8_t)((getRSSI() * 254) / 1023)); // scaled RSSI (uchar)
#if defined(USE_PITOT)
sbufWriteU8(dst, sensors(SENSOR_PITOT) ? pitot.airSpeed / 100.0f : 0); // in m/s
sbufWriteU8(dst, sensors(SENSOR_PITOT) ? getAirspeedEstimate() / 100.0f : 0); // in m/s
#else
sbufWriteU8(dst, 0);
#endif

2
src/main/telemetry/mavlink.c
View file

@ -645,7 +645,7 @@ void mavlinkSendHUDAndHeartbeat(void)
#if defined(USE_PITOT)
if (sensors(SENSOR_PITOT)) {
mavAirSpeed = pitot.airSpeed / 100.0f;
mavAirSpeed = getAirspeedEstimate() / 100.0f;
}
#endif

2
src/main/telemetry/smartport.c
View file

@ -551,7 +551,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
case FSSP_DATAID_ASPD :
#ifdef USE_PITOT
if (sensors(SENSOR_PITOT)) {
smartPortSendPackage(id, pitot.airSpeed * 0.194384449f); // cm/s to knots*1
smartPortSendPackage(id, getAirspeedEstimate() * 0.194384449f); // cm/s to knots*1
*clearToSend = false;
}
#endif