[modules] baro modules publish TEMPERATURE via ABI

paparazzi · Oct 12, 2014 · a48093c · a48093c
1 parent 2da0d58
commit a48093c
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Showing 9 changed files with 22 additions and 8 deletions.
diff --git a/sw/airborne/boards/apogee/baro_board.c b/sw/airborne/boards/apogee/baro_board.c
@@ -99,6 +99,8 @@ void apogee_baro_event(void) {
   if (apogee_baro.data_available && startup_cnt == 0) {
     float pressure = ((float)apogee_baro.pressure/(1<<2));
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
+    float temp = apogee_baro.temperature / 16.0f;
+    AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
     apogee_baro.data_available = FALSE;
   }
 }

diff --git a/sw/airborne/boards/baro_board_ms5611_i2c.c b/sw/airborne/boards/baro_board_ms5611_i2c.c
@@ -96,18 +96,19 @@ void baro_event(void) {
     if (bb_ms5611.data_available) {
       float pressure = (float)bb_ms5611.data.pressure;
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
+      float temp = bb_ms5611.data.temperature / 100.0f;
+      AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
       bb_ms5611.data_available = FALSE;
 
 #ifdef BARO_LED
       RunOnceEvery(10,LED_TOGGLE(BARO_LED));
 #endif
 
 #if DEBUG
-      float ftempms = bb_ms5611.data.temperature / 100.;
       float fbaroms = bb_ms5611.data.pressure / 100.;
       DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
                                 &bb_ms5611.data.d1, &bb_ms5611.data.d2,
-                                &fbaroms, &ftempms);
+                                &fbaroms, &temp);
 #endif
     }
   }

diff --git a/sw/airborne/boards/baro_board_ms5611_spi.c b/sw/airborne/boards/baro_board_ms5611_spi.c
@@ -85,18 +85,19 @@ void baro_event(void) {
     if (bb_ms5611.data_available) {
       float pressure = (float)bb_ms5611.data.pressure;
       AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
+      float temp = bb_ms5611.data.temperature / 100.0f;
+      AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
       bb_ms5611.data_available = FALSE;
 
 #ifdef BARO_LED
       RunOnceEvery(10,LED_TOGGLE(BARO_LED));
 #endif
 
 #if DEBUG
-      float ftempms = bb_ms5611.data.temperature / 100.;
       float fbaroms = bb_ms5611.data.pressure / 100.;
       DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
                                 &bb_ms5611.data.d1, &bb_ms5611.data.d2,
-                                &fbaroms, &ftempms);
+                                &fbaroms, &temp);
 #endif
     }
   }

diff --git a/sw/airborne/boards/lisa_m/baro_board.c b/sw/airborne/boards/lisa_m/baro_board.c
@@ -75,6 +75,8 @@ void baro_event(void)
   if (baro_bmp085.data_available) {
     float pressure = (float)baro_bmp085.pressure;
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
+    float temp = baro_bmp085.temperature / 10.0f;
+    AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
     baro_bmp085.data_available = FALSE;
 #ifdef BARO_LED
     RunOnceEvery(10,LED_TOGGLE(BARO_LED));

diff --git a/sw/airborne/boards/navstik/baro_board.c b/sw/airborne/boards/navstik/baro_board.c
@@ -59,6 +59,8 @@ void baro_event(void) {
   if (baro_bmp085.data_available) {
     float pressure = (float)baro_bmp085.pressure;
     AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
+    float temp = baro_bmp085.temperature / 10.0f;
+    AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
     baro_bmp085.data_available = FALSE;
 #ifdef BARO_LED
     RunOnceEvery(10,LED_TOGGLE(BARO_LED));

diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
@@ -87,6 +87,8 @@ void baro_bmp_event(void) {
 
     float pressure = (float)baro_bmp.pressure;
     AbiSendMsgBARO_ABS(BARO_BMP_SENDER_ID, &pressure);
+    float temp = baro_bmp.temperature / 10.0f;
+    AbiSendMsgTEMPERATURE(BARO_BOARD_SENDER_ID, &temp);
     baro_bmp.data_available = FALSE;
 
 #ifdef SENSOR_SYNC_SEND

diff --git a/sw/airborne/modules/sensors/baro_mpl3115.c b/sw/airborne/modules/sensors/baro_mpl3115.c
@@ -62,6 +62,8 @@ void baro_mpl3115_read_event( void ) {
   if (baro_mpl.data_available) {
     float pressure = (float)baro_mpl.pressure/(1<<2);
     AbiSendMsgBARO_ABS(BARO_MPL3115_SENDER_ID, &pressure);
+    float temp = (float)baro_mpl.pressure / 16.0f;
+    AbiSendMsgTEMPERATURE(BARO_MPL3115_SENDER_ID, &temp);
 #ifdef SENSOR_SYNC_SEND
     DOWNLINK_SEND_MPL3115_BARO(DefaultChannel, DefaultDevice, &baro_mpl.pressure, &baro_mpl.temperature, &baro_mpl.alt);
 #endif

diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
@@ -91,17 +91,18 @@ void baro_ms5611_event( void ) {
   if (baro_ms5611.data_available) {
     float pressure = (float)baro_ms5611.data.pressure;
     AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, &pressure);
+    float temp = baro_ms5611.data.temperature / 100.0f;
+    AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, &temp);
     baro_ms5611.data_available = FALSE;
 
     baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure);
     baro_ms5611_alt_valid = TRUE;
 
 #ifdef SENSOR_SYNC_SEND
-    ftempms = baro_ms5611.data.temperature / 100.;
     fbaroms = baro_ms5611.data.pressure / 100.;
     DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
                               &baro_ms5611.data.d1, &baro_ms5611.data.d2,
-                              &fbaroms, &ftempms);
+                              &fbaroms, &temp);
 #endif
   }
 }

diff --git a/sw/airborne/modules/sensors/baro_ms5611_spi.c b/sw/airborne/modules/sensors/baro_ms5611_spi.c
@@ -91,17 +91,18 @@ void baro_ms5611_event( void ) {
   if (baro_ms5611.data_available) {
     float pressure = (float)baro_ms5611.data.pressure;
     AbiSendMsgBARO_ABS(BARO_MS5611_SENDER_ID, &pressure);
+    float temp = baro_ms5611.data.temperature / 100.0f;
+    AbiSendMsgTEMPERATURE(BARO_MS5611_SENDER_ID, &temp);
     baro_ms5611.data_available = FALSE;
 
     baro_ms5611_alt = pprz_isa_altitude_of_pressure(pressure);
     baro_ms5611_alt_valid = TRUE;
 
 #ifdef SENSOR_SYNC_SEND
-    ftempms = baro_ms5611.data.temperature / 100.;
     fbaroms = baro_ms5611.data.pressure / 100.;
     DOWNLINK_SEND_BARO_MS5611(DefaultChannel, DefaultDevice,
                               &baro_ms5611.data.d1, &baro_ms5611.data.d2,
-                              &fbaroms, &ftempms);
+                              &fbaroms, &temp);
 #endif
   }
 }