Depth and ms8537 #20089
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Depth and ms8537 #20089
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…UM to differentiate between air, fresh water and salt water in depth calculation; closes PX4#20073
bresch
requested changes
Aug 22, 2022
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Great!
Would be cool if we can propagate this to the simulated ROV setups:
- SDF file: https://github.com/PX4/PX4-SITL_gazebo/blob/bd941689b6e9d3e628a1e786d1d042d48005dc7b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf#L539-L543
- pressure calculations: https://github.com/PX4/PX4-SITL_gazebo/blob/bd941689b6e9d3e628a1e786d1d042d48005dc7b/src/gazebo_barometer_plugin.cpp#L148-L157
changed param name BARO_MEDIUM to SENS_BARO_MEDIUM; added value comments to param SENS_BARO_MEDIUM;
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I don't particularly like that we're doing this within "air data", but it seems relative inoffensive so far. |
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Thanks for the contribution! However the CIs are failing indicating that there's a compile error. Could you just check on that & rebase to |
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@spiderkeys had some interesting thoughts on #20073 so you might not want to merge this pull request entirely, but just the sensor bug fixes. I don't work at the same company (for UUVs) anymore so I can't spend time on this at the moment. |
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Describe problem solved by this pull request
fixes #20049
fixes #20051
fixes #20073
Test
Tested on a pixhawk4 with a MS5837-30BA in a 1.5m deep fresh water pool.
Accuracy ±1cm