Cleanup

apps/drivers/drv_airspeed.h

@@ -46,20 +46,6 @@
 
 #define AIRSPEED_DEVICE_PATH	"/dev/airspeed"
 
-/**
- * Airspeed report structure. Reads from the device must be in multiples of this
- * structure.
- */
-//struct airspeed_report {
-//	uint64_t timestamp;
-//	uint8_t diff_pressure;		/** differential pressure in Pa */
-//};
-
-/*
- * ObjDev tag for raw range finder data.
- */
-//ORB_DECLARE(sensor_differential_pressure);
-
 /*
  * ioctl() definitions
  *

apps/drivers/ets_airspeed/ets_airspeed.cpp

@@ -74,20 +74,22 @@
 #include <uORB/topics/subsystem_info.h>
 
 /* Configuration Constants */
-#define I2C_BUS 		PX4_I2C_BUS_ESC
+#define I2C_BUS 		PX4_I2C_BUS_ESC   // XXX Replace with PX4_I2C_BUS_EXPANSION before submitting.
 #define I2C_ADDRESS 	0x75
 
 /* ETS_AIRSPEED Registers addresses */
 #define READ_CMD	0x07		/* Read the data */
 	 
-/* Max measurement rate is 100Hz */
+/* Measurement rate is 100Hz */
 #define CONVERSION_INTERVAL	(1000000 / 100)	/* microseconds */
 
-/* The Eagle Tree Airspeed V3 can only provide accurate readings
-   for speeds from 15km/h upwards. */
+/**
+ * The Eagle Tree Airspeed V3 can only provide accurate readings
+ * for speeds from 15km/h upwards. 
+ */
 #define MIN_ACCURATE_DIFF_PRES_PA 12
 
-/* oddly, ERROR is not defined for c++ */
+/* Oddly, ERROR is not defined for C++ */
 #ifdef ERROR
 # undef ERROR
 #endif
@@ -109,8 +111,8 @@ public:
 	virtual int			ioctl(struct file *filp, int cmd, unsigned long arg);
 	
 	/**
-	* Diagnostics - print some basic information about the driver.
-	*/
+	 * Diagnostics - print some basic information about the driver.
+	 */
 	void				print_info();
 	
 protected:
@@ -163,6 +165,7 @@ private:
 	void				cycle();
 	int					measure();
 	int					collect();
+
 	/**
 	* Static trampoline from the workq context; because we don't have a
 	* generic workq wrapper yet.

apps/sensors/sensors.cpp

@@ -99,6 +99,12 @@
 #define BAT_VOL_LOWPASS_2 0.01f
 #define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
 
+/**
+ * HACK - true temperature is much less than indicated temperature in baro,
+ * subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
+ */
+#define PCB_TEMP_ESTIMATE_DEG 5.0f
+
 #define PPM_INPUT_TIMEOUT_INTERVAL	50000 /**< 50 ms timeout / 20 Hz */
 
 #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg)
@@ -913,15 +919,9 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 		raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
 		raw.differential_pressure_counter++;
 
-		float airspeed_true = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f, 
-											 	 raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - 5.0f); //factor 1e2 for conversion from mBar to Pa
-		// XXX HACK - true temperature is much less than indicated temperature in baro,
-		// subtract 5 degrees in an attempt to account for the electrical upheating of the PCB
-
-		float airspeed_indicated = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
-
-		_airspeed.indicated_airspeed_m_s = airspeed_indicated;
-		_airspeed.true_airspeed_m_s = airspeed_true;
+		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa);
+		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f, 
+											 			 raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
 
 		/* announce the airspeed if needed, just publish else */
 		if (_airspeed_pub > 0) {