[modules] ms45xx publishes BARO_DIFF and TEMPERATURE via ABI

paparazzi · Oct 21, 2014 · 4516a11 · 4516a11
1 parent 2d26cdb
commit 4516a11
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diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c b/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c
@@ -29,6 +29,7 @@
 #include "mcu_periph/i2c.h"
 #include "modules/sensors/airspeed_ms45xx_i2c.h"
 #include "filters/low_pass_filter.h"
+#include "subsystems/abi.h"
 
 #include "mcu_periph/uart.h"
 #include "messages.h"
@@ -200,6 +201,12 @@ void ms45xx_i2c_event(void)
        */
       ms45xx.temperature = ((uint32_t)temp_raw * 2000) / 2047 - 500;
 
+      // Send differential pressure via ABI
+      AbiSendMsgBARO_DIFF(MS45XX_SENDER_ID, &ms45xx.diff_pressure);
+      // Send temperature as float in deg Celcius via ABI
+      float temp = ms45xx.temperature / 10.0f;
+      AbiSendMsgTEMPERATURE(MS45XX_SENDER_ID, &temp);
+
       // Compute airspeed
       ms45xx.airspeed = sqrtf(Max(ms45xx.diff_pressure * ms45xx.airspeed_scale, 0));
 #if USE_AIRSPEED_MS45XX

diff --git a/sw/airborne/subsystems/abi_sender_ids.h b/sw/airborne/subsystems/abi_sender_ids.h
@@ -80,6 +80,14 @@
 #define METEO_STICK_SENDER_ID 30
 #endif
 
+/*
+ * IDs of differential pressure sensors
+ * can usually also publish temperature like baro sensors
+ */
+#ifndef MS45XX_SENDER_ID
+#define MS45XX_SENDER_ID 40
+#endif
+
 /*
  * IDs of AGL measurment modules that can be loaded (sonars,...)
  */