Merge pull request #8330 from JulioCesarMatias/RenameASFunction

Rename pitotCalculateAirSpeed()
iNavFlight · Aug 22, 2022 · cdaf835 · cdaf835
2 parents f73f8ad + 9b5106a
commit cdaf835
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Showing 17 changed files with 32 additions and 30 deletions.
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -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

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1428,7 +1428,7 @@ 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

diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
@@ -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;

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -2632,11 +2632,12 @@ 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
@@ -3777,14 +3778,16 @@ 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;

diff --git a/src/main/io/osd_canvas.c b/src/main/io/osd_canvas.c
@@ -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;

diff --git a/src/main/io/osd_common.c b/src/main/io/osd_common.c
@@ -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;
     }

diff --git a/src/main/io/osd_common.h b/src/main/io/osd_common.h
@@ -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)
 

diff --git a/src/main/io/osd_dji_hd.c b/src/main/io/osd_dji_hd.c
@@ -691,7 +691,7 @@ void osdDJIFormatVelocityStr(char* buff)
         case OSD_SPEED_SOURCE_AIR:
             strcpy(sourceBuf, "AIR");
 #ifdef USE_PITOT
-            vel = pitot.airSpeed;
+            vel = getAirspeedEstimate();
 #endif
             break;
     }

diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
@@ -660,12 +660,12 @@ 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;

diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
@@ -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

diff --git a/src/main/programming/logic_condition.c b/src/main/programming/logic_condition.c
@@ -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

diff --git a/src/main/sensors/pitotmeter.c b/src/main/sensors/pitotmeter.c
@@ -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,
@@ -231,7 +232,7 @@ 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;
         }
 #ifdef USE_SIMULATOR
     	if (simulatorData.flags & SIMU_AIRSPEED) {
@@ -248,7 +249,7 @@ void pitotUpdate(void)
     pitotThread();
 }
 
-int32_t pitotCalculateAirSpeed(void)
+float getAirspeedEstimate(void)
 {
     return pitot.airSpeed;
 }

diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h
@@ -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
diff --git a/src/main/telemetry/ibus_shared.c b/src/main/telemetry/ibus_shared.c
@@ -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);

diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c
@@ -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

diff --git a/src/main/telemetry/mavlink.c b/src/main/telemetry/mavlink.c
@@ -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
 

diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
@@ -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