[modules] air_data: init vars as unknown

paparazzi · Oct 27, 2014 · 88d22e3 · 88d22e3
1 parent b172e62
commit 88d22e3
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Showing 3 changed files with 13 additions and 29 deletions.
diff --git a/conf/modules/air_data.xml b/conf/modules/air_data.xml
@@ -21,7 +21,7 @@
   <settings>
     <dl_settings>
       <dl_settings name="air_data">
-        <dl_setting min="800" max="1200" step="1" module="air_data/air_data" var="air_data.qnh" shortname="QNH" handler="SetQNH"/>
+        <dl_setting min="800" max="1200" step="1" module="air_data/air_data" var="air_data.qnh" shortname="QNH"/>
         <dl_setting min="0.8" max="1.3" step="0.01" module="air_data/air_data" var="air_data.tas_factor" shortname="TASfactor" param="AIR_DATA_TAS_FACTOR"/>
         <dl_setting min="0" max="1" step="1" var="air_data.calc_qnh_once" module="air_data/air_data" shortname="calcQNH"/>
         <dl_setting min="0" max="1" step="1" var="air_data.calc_airspeed" module="air_data/air_data" shortname="calcAirspeed" param="AIR_DATA_CALC_AIRSPEED"/>

diff --git a/sw/airborne/modules/air_data/air_data.c b/sw/airborne/modules/air_data/air_data.c
@@ -91,9 +91,6 @@ PRINT_CONFIG_MSG("USE_AIRSPEED_AIR_DATA automatically set to TRUE")
  * Internal variable to keep track of validity.
  */
 
-/** TRUE if QNH has been set */
-static bool_t qnh_set;
-
 /** counter to check baro health */
 static uint8_t baro_health_counter;
 
@@ -107,10 +104,9 @@ static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const flo
     float h = stateGetPositionLla_f()->alt;
     air_data.qnh = pprz_isa_ref_pressure_of_height_full(air_data.pressure, h) / 100.f;
     air_data.calc_qnh_once = FALSE;
-    qnh_set = TRUE;
   }
 
-  if (air_data.calc_amsl_baro && qnh_set) {
+  if (air_data.calc_amsl_baro && airdata.qnh > 0) {
     air_data.amsl_baro = pprz_isa_height_of_pressure_full(air_data.pressure,
                                                           air_data.qnh * 100.f);
     air_data.amsl_baro_valid = TRUE;
@@ -134,7 +130,7 @@ static void pressure_diff_cb(uint8_t __attribute__((unused)) sender_id, const fl
 static void temperature_cb(uint8_t __attribute__((unused)) sender_id, const float *temp)
 {
   air_data.temperature = *temp;
-  if (air_data.calc_tas_factor && baro_health_counter > 0) {
+  if (air_data.calc_tas_factor && baro_health_counter > 0 && air_data.pressure > 0) {
     air_data.tas_factor = get_tas_factor(air_data.pressure, air_data.temperature);
   }
 }
@@ -171,21 +167,21 @@ void air_data_init(void)
   air_data.amsl_baro_valid = FALSE;
 
   /* initialize the output variables
-   * pressure and qnh to sea level conditions, rest to zero
+   * pressure, qnh, temperature and airspeed to invalid values,
+   * rest to zero
    */
-  air_data.pressure = PPRZ_ISA_SEA_LEVEL_PRESSURE;
-  air_data.qnh = PPRZ_ISA_SEA_LEVEL_PRESSURE / 100.0f;
+  air_data.pressure = -1.0f;
+  air_data.qnh = -1.0f;
+  air_data.airspeed = -1.0f;
+  air_data.temperature = -1000.0f;
   air_data.differential = 0.0f;
-  air_data.temperature = 0.0f;
-  air_data.airspeed = 0.0f;
   air_data.amsl_baro = 0.0f;
   air_data.aoa = 0.0f;
   air_data.sideslip = 0.0f;
   air_data.wind_speed = 0.0f;
   air_data.wind_dir = 0.0f;
 
   /* internal variables */
-  qnh_set = FALSE;
   baro_health_counter = 0;
 
   AbiBindMsgBARO_ABS(AIR_DATA_BARO_ABS_ID, &pressure_abs_ev, pressure_abs_cb);
@@ -219,12 +215,6 @@ void air_data_periodic(void)
   }
 }
 
-void air_data_SetQNH(float qnh)
-{
-  air_data.qnh = qnh;
-  qnh_set = TRUE;
-}
-
 
 /**
  * Calculate equivalent airspeed from dynamic pressure.

diff --git a/sw/airborne/modules/air_data/air_data.h b/sw/airborne/modules/air_data/air_data.h
@@ -35,13 +35,13 @@
 
 /** Air Data strucute */
 struct AirData {
-  float pressure;     ///< Static atmospheric pressure (Pa)
+  float pressure;     ///< Static atmospheric pressure (Pa), -1 if unknown
   float differential; ///< Differential pressure (total - static pressure) (Pa)
-  float temperature;  ///< temperature in degrees Celcius
+  float temperature;  ///< temperature in degrees Celcius, -1000 if unknown
 
-  float airspeed;     ///< Conventional Air Speed (m/s)
+  float airspeed;     ///< Conventional Air Speed in m/s, -1 if unknown
   float tas_factor;   ///< factor to convert equivalent airspeed (EAS) to true airspeed (TAS)
-  float qnh;              ///< Barometric pressure adjusted to sea level in hPa
+  float qnh;              ///< Barometric pressure adjusted to sea level in hPa, -1 if unknown
   float amsl_baro;        ///< altitude above sea level in m from pressure and QNH
   bool_t amsl_baro_valid; ///< TRUE if #amsl_baro is currently valid
   bool_t calc_airspeed;   ///< if TRUE, calculate airspeed from differential pressure
@@ -72,12 +72,6 @@ extern void air_data_periodic(void);
  */
 extern float air_data_get_amsl(void);
 
-/**
- * Handler to set QNH manually.
- * @param qnh QNH in hPa
- */
-extern void air_data_SetQNH(float qnh);
-
 /**
  * Calculate equivalent airspeed from dynamic pressure.
  * Dynamic pressure @f$q@f$ (also called impact pressure) is the