Pitot DLVR-L10D sensor #9216
Pitot DLVR-L10D sensor #9216
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| @@ -74,6 +74,13 @@ static bool ms4525_read(pitotDev_t * pitot) | |||
| dP_raw2 = 0x3FFF & ((rxbuf2[0] << 8) + rxbuf2[1]); | |||
| dT_raw2 = (0xFFE0 & ((rxbuf2[2] << 8) + rxbuf2[3])) >> 5; | |||
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| // reject any values that are the absolute minimum or maximums these | |||
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Are these changes needed for the new sensor, or an unrelated change made during development?
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This is additional safeguard taken directly from ArduPlane MS4525 driver (AP_Airspeed_MS4525.cpp line 180) to ensure that read values are correct. I guess it rarely is hit. And yes, it is unrelated.
src/main/fc/fc_tasks.c
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| @@ -494,7 +494,7 @@ cfTask_t cfTasks[TASK_COUNT] = { | |||
| [TASK_BARO] = { | |||
| .taskName = "BARO", | |||
| .taskFunc = taskUpdateBaro, | |||
| .desiredPeriod = TASK_PERIOD_HZ(20), | |||
| .desiredPeriod = TASK_PERIOD_MS(50), // SPL06 uses oversampilng - result 16ms ? | |||
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20Hz ends up being 50ms. Is this change needed?
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Not really - it can be dropped. I just did this modification because it was easier for me to understand difference between what baro wants and what it gets (it interfered with pitot measurements since the true period for SPL06 is 16ms).
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@jmajew please remove it if it's not required for those changes
| } else { | ||
| pitot.pressure = pitotPressureTmp; |
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why are we using the pressure at this point, when the calibration is not complete and we are also setting airspeed to 0?
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Before the if (pitotIsCalibrationComplete()) { (line 253) the pressure dP is kept in variable pitotPressureTmp.
During normal operation pitot.pressure is initialized by the LPF function (line 266) which takes as an argument the pitotPressureTmp.
During zero calibration which relies on pitot.pressure it is not initialized since LPF has been moved to normal operation part of if. Hence the need for this line.
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Cool! Nice contribution. I see you skipped the sensor during auto detection. So, it identifies itself as ms4525 over i2c, but requires different reading for the data. Is there any register that can differentiate the two of them, so auto detection can be used? |
Not that I can find... In fact you can run both MS4525 and DLVR-L10D using both drivers usually without problem. Apart from the fact that results would be wrong. |
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I have applied this PR to 6.1.1 version of the firmware and used it to test DLVR-L10D sensor during real flight 2 days ago. My personal feeling were very positive: no noise (standard setting for filtering 350mHz), stable measured airspeed and the value of the airspeed looks reasonable comparing to wind and GPS speeds. Subjectively I would say it behaves much better than what I remember when using MS4525 on the same plane. I would like to test also the PR to see how MS4525 sensor work after modifications but unfortunately next chance to fly for me would be around the end of August :( |
DzikuVx
added
the
Release Notes
This PR (related issue #9208):
adds a driver for DLVR-L10D sensor which is close to the MS4525 however the pressure treatment is different.
modifies reading algo of pitot sensors such that measured period of execution follows closely the demanded one.
fixes the problem when LPF affected the zero-calibration of noisy sensors (e.g., MS4525 especially with PCB ver.1.1). such that for high cutoff frequencies it could keep zero-calibration procedure running for ever
most of modifications follow closely those that are used in ArduPlane
I have tested the code using FC Matek H743-WLITE and I2C sensors MS4525 (PCB ver.1.1, PCB ver.1.3) and Matek AS-DLVR-L10D I2C. Analog sensors (I do not have one) should be checked before merging.