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Merge branch 'master' into autostart

sbg
Lorenz Meier 12 years ago
parent
47dd3fdae1 8d1abf4aa4
commit
a4d0594bd7
11 changed files with 180 additions and 142 deletions
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  1. 13
      ROMFS/px4fmu_common/init.d/rc.sensors
  2. 27
      ROMFS/px4fmu_common/init.d/rc.usb
  3. 50
      ROMFS/px4fmu_common/init.d/rcS
  4. 2
      src/drivers/boards/px4fmu/px4fmu_init.c
  5. 3
      src/drivers/hmc5883/hmc5883.cpp
  6. 168
      src/drivers/hott/messages.h
  7. 3
      src/drivers/mpu6000/mpu6000.cpp
  8. 3
      src/drivers/ms5611/ms5611.cpp
  9. 2
      src/modules/commander/commander.c
  10. 21
      src/modules/mavlink/mavlink.c
  11. 4
      src/modules/systemlib/airspeed.c

13
ROMFS/px4fmu_common/init.d/rc.sensors
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@ -34,9 +34,10 @@ fi @@ -34,9 +34,10 @@ fi
# ALWAYS start this task before the
# preflight_check.
#
sensors start
#
# Check sensors - run AFTER 'sensors start'
#
preflight_check
if sensors start
then
#
# Check sensors - run AFTER 'sensors start'
#
preflight_check
fi

27
ROMFS/px4fmu_common/init.d/rc.usb
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@ -5,8 +5,33 @@ @@ -5,8 +5,33 @@
echo "Starting MAVLink on this USB console"
# Stop tone alarm
tone_alarm stop
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
if mavlink stop
then
echo "stopped other MAVLink instance"
fi
mavlink start -b 230400 -d /dev/ttyACM0
# Start the commander
commander start
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
if attitude_estimator_ekf start
then
echo "estimating attitude"
fi
# Start GPS
if gps start
then
echo "GPS started"
fi
echo "MAVLink started, exiting shell.."

50
ROMFS/px4fmu_common/init.d/rcS
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@ -7,7 +7,6 @@ @@ -7,7 +7,6 @@
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set USB autoconnect
#
# Try to mount the microSD card.
@ -66,31 +65,44 @@ then @@ -66,31 +65,44 @@ then
sh /fs/microsd/etc/rc.txt
fi
#
# Check for USB host
#
if [ $USB != autoconnect ]
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
echo "[init] not connecting USB"
else
if sercon
then
echo "[init] USB interface connected"
else
if [ -f /dev/ttyACM0 ]
echo "[init] NSH via USB"
fi
echo "Running rc.APM"
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
then
else
echo "[init] No USB connected"
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
echo Running rc.APM
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi

2
src/drivers/boards/px4fmu/px4fmu_init.c
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@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void) @@ -194,7 +194,7 @@ __EXPORT int nsh_archinitialize(void)
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_on(LED_BLUE);
led_off(LED_BLUE);
/* Configure SPI-based devices */

3
src/drivers/hmc5883/hmc5883.cpp
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@ -1221,7 +1221,8 @@ start() @@ -1221,7 +1221,8 @@ start()
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver, attempt expansion bus first */
g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);

168
src/drivers/hott/messages.h
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@ -125,52 +125,52 @@ struct eam_module_msg { @@ -125,52 +125,52 @@ struct eam_module_msg {
#define GAM_SENSOR_TEXT_ID 0xd0
struct gam_module_msg {
uint8_t start; // start byte constant value 0x7c
uint8_t gam_sensor_id; // EAM sensort id. constat value 0x8d
uint8_t warning_beeps; // 1=A 2=B ... 0x1a=Z 0 = no alarm
uint8_t sensor_text_id; // constant value 0xd0
uint8_t alarm_invers1; // alarm bitmask. Value is displayed inverted
uint8_t alarm_invers2; // alarm bitmask. Value is displayed inverted
uint8_t cell1; // cell 1 voltage lower value. 0.02V steps, 124=2.48V
uint8_t start; /**< Start byte */
uint8_t gam_sensor_id; /**< GAM sensor id */
uint8_t warning_beeps;
uint8_t sensor_text_id;
uint8_t alarm_invers1;
uint8_t alarm_invers2;
uint8_t cell1; /**< Lipo cell voltages. Not supported. */
uint8_t cell2;
uint8_t cell3;
uint8_t cell4;
uint8_t cell5;
uint8_t cell6;
uint8_t batt1_L; // battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V
uint8_t batt1_L; /**< Battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V */
uint8_t batt1_H;
uint8_t batt2_L; // battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V
uint8_t batt2_L; /**< Battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V */
uint8_t batt2_H;
uint8_t temperature1; // temperature 1. offset of 20. a value of 20 = 0°C
uint8_t temperature2; // temperature 2. offset of 20. a value of 20 = 0°C
uint8_t fuel_procent; // Fuel capacity in %. Values 0--100
// graphical display ranges: 0-25% 50% 75% 100%
uint8_t fuel_ml_L; // Fuel in ml scale. Full = 65535!
uint8_t fuel_ml_H; //
uint8_t rpm_L; // RPM in 10 RPM steps. 300 = 3000rpm
uint8_t rpm_H; //
uint8_t altitude_L; // altitude in meters. offset of 500, 500 = 0m
uint8_t altitude_H; //
uint8_t climbrate_L; // climb rate in 0.01m/s. Value of 30000 = 0.00 m/s
uint8_t climbrate_H; //
uint8_t climbrate3s; // climb rate in m/3sec. Value of 120 = 0m/3sec
uint8_t current_L; // current in 0.1A steps
uint8_t current_H; //
uint8_t main_voltage_L; // Main power voltage using 0.1V steps
uint8_t main_voltage_H; //
uint8_t batt_cap_L; // used battery capacity in 10mAh steps
uint8_t batt_cap_H; //
uint8_t speed_L; // (air?) speed in km/h(?) we are using ground speed here per default
uint8_t speed_H; //
uint8_t min_cell_volt; // minimum cell voltage in 2mV steps. 124 = 2,48V
uint8_t min_cell_volt_num; // number of the cell with the lowest voltage
uint8_t rpm2_L; // RPM in 10 RPM steps. 300 = 3000rpm
uint8_t rpm2_H; //
uint8_t general_error_number; // Voice error == 12. TODO: more docu
uint8_t pressure; // Pressure up to 16bar. 0,1bar scale. 20 = 2bar
uint8_t version; // version number TODO: more info?
uint8_t stop; // stop byte
uint8_t checksum; // checksum
uint8_t temperature1; /**< Temperature 1. offset of 20. a value of 20 = 0°C */
uint8_t temperature2; /**< Temperature 2. offset of 20. a value of 20 = 0°C */
uint8_t fuel_procent; /**< Fuel capacity in %. Values 0 - 100 */
/**< Graphical display ranges: 0 25% 50% 75% 100% */
uint8_t fuel_ml_L; /**< Fuel in ml scale. Full = 65535 */
uint8_t fuel_ml_H;
uint8_t rpm_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
uint8_t rpm_H;
uint8_t altitude_L; /**< Altitude in meters. offset of 500, 500 = 0m */
uint8_t altitude_H;
uint8_t climbrate_L; /**< Climb rate in 0.01m/s. Value of 30000 = 0.00 m/s */
uint8_t climbrate_H;
uint8_t climbrate3s; /**< Climb rate in m/3sec. Value of 120 = 0m/3sec */
uint8_t current_L; /**< Current in 0.1A steps */
uint8_t current_H;
uint8_t main_voltage_L; /**< Main power voltage using 0.1V steps */
uint8_t main_voltage_H;
uint8_t batt_cap_L; /**< Used battery capacity in 10mAh steps */
uint8_t batt_cap_H;
uint8_t speed_L; /**< Speed in km/h */
uint8_t speed_H;
uint8_t min_cell_volt; /**< Minimum cell voltage in 2mV steps. 124 = 2,48V */
uint8_t min_cell_volt_num; /**< Number of the cell with the lowest voltage */
uint8_t rpm2_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
uint8_t rpm2_H;
uint8_t general_error_number; /**< Voice error == 12. TODO: more docu */
uint8_t pressure; /**< Pressure up to 16bar. 0,1bar scale. 20 = 2bar */
uint8_t version;
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed */
};
/* GPS sensor constants. */
@ -184,52 +184,52 @@ struct gam_module_msg { @@ -184,52 +184,52 @@ struct gam_module_msg {
struct gps_module_msg {
uint8_t start; /**< Start byte */
uint8_t sensor_id; /**< GPS sensor ID*/
uint8_t warning; /**< Byte 3: 0…= warning beeps */
uint8_t warning; /**< 0…= warning beeps */
uint8_t sensor_text_id; /**< GPS Sensor text mode ID */
uint8_t alarm_inverse1; /**< Byte 5: 01 inverse status */
uint8_t alarm_inverse2; /**< Byte 6: 00 inverse status status 1 = no GPS Signal */
uint8_t flight_direction; /**< Byte 7: 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
uint8_t gps_speed_L; /**< Byte 8: 8 = /GPS speed low byte 8km/h */
uint8_t gps_speed_H; /**< Byte 9: 0 = /GPS speed high byte */
uint8_t latitude_ns; /**< Byte 10: 000 = N = 48°39’988 */
uint8_t latitude_min_L; /**< Byte 11: 231 0xE7 = 0x12E7 = 4839 */
uint8_t latitude_min_H; /**< Byte 12: 018 18 = 0x12 */
uint8_t latitude_sec_L; /**< Byte 13: 171 220 = 0xDC = 0x03DC =0988 */
uint8_t latitude_sec_H; /**< Byte 14: 016 3 = 0x03 */
uint8_t longitude_ew; /**< Byte 15: 000 = E= 9° 25’9360 */
uint8_t longitude_min_L; /**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */
uint8_t longitude_min_H; /**< Byte 17: 003 3 = 0x03 */
uint8_t longitude_sec_L; /**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/
uint8_t longitude_sec_H; /**< Byte 19: 004 36 = 0x24 */
uint8_t distance_L; /**< Byte 20: 027 123 = /distance low byte 6 = 6 m */
uint8_t distance_H; /**< Byte 21: 036 35 = /distance high byte */
uint8_t altitude_L; /**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */
uint8_t altitude_H; /**< Byte 23: 001 1 = /Altitude high byte */
uint8_t resolution_L; /**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
uint8_t resolution_H; /**< Byte 25: 117 = High Byte m/s resolution 0.01m */
uint8_t unknown1; /**< Byte 26: 120 = 0m/3s */
uint8_t gps_num_sat; /**< Byte 27: GPS.Satellites (number of satelites) (1 byte) */
uint8_t gps_fix_char; /**< Byte 28: GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
uint8_t home_direction; /**< Byte 29: HomeDirection (direction from starting point to Model position) (1 byte) */
uint8_t angle_x_direction; /**< Byte 30: angle x-direction (1 byte) */
uint8_t angle_y_direction; /**< Byte 31: angle y-direction (1 byte) */
uint8_t angle_z_direction; /**< Byte 32: angle z-direction (1 byte) */
uint8_t gyro_x_L; /**< Byte 33: gyro x low byte (2 bytes) */
uint8_t gyro_x_H; /**< Byte 34: gyro x high byte */
uint8_t gyro_y_L; /**< Byte 35: gyro y low byte (2 bytes) */
uint8_t gyro_y_H; /**< Byte 36: gyro y high byte */
uint8_t gyro_z_L; /**< Byte 37: gyro z low byte (2 bytes) */
uint8_t gyro_z_H; /**< Byte 38: gyro z high byte */
uint8_t vibration; /**< Byte 39: vibration (1 bytes) */
uint8_t ascii4; /**< Byte 40: 00 ASCII Free Character [4] */
uint8_t ascii5; /**< Byte 41: 00 ASCII Free Character [5] */
uint8_t gps_fix; /**< Byte 42: 00 ASCII Free Character [6], we use it for GPS FIX */
uint8_t version; /**< Byte 43: 00 version number */
uint8_t stop; /**< Byte 44: 0x7D Ende byte */
uint8_t checksum; /**< Byte 45: Parity Byte */
uint8_t alarm_inverse1; /**< 01 inverse status */
uint8_t alarm_inverse2; /**< 00 inverse status status 1 = no GPS Signal */
uint8_t flight_direction; /**< 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
uint8_t gps_speed_L; /**< 8 = /GPS speed low byte 8km/h */
uint8_t gps_speed_H; /**< 0 = /GPS speed high byte */
uint8_t latitude_ns; /**< 000 = N = 48°39’988 */
uint8_t latitude_min_L; /**< 231 0xE7 = 0x12E7 = 4839 */
uint8_t latitude_min_H; /**< 018 18 = 0x12 */
uint8_t latitude_sec_L; /**< 171 220 = 0xDC = 0x03DC =0988 */
uint8_t latitude_sec_H; /**< 016 3 = 0x03 */
uint8_t longitude_ew; /**< 000 = E= 9° 25’9360 */
uint8_t longitude_min_L; /**< 150 157 = 0x9D = 0x039D = 0925 */
uint8_t longitude_min_H; /**< 003 3 = 0x03 */
uint8_t longitude_sec_L; /**< 056 144 = 0x90 0x2490 = 9360 */
uint8_t longitude_sec_H; /**< 004 36 = 0x24 */
uint8_t distance_L; /**< 027 123 = /distance low byte 6 = 6 m */
uint8_t distance_H; /**< 036 35 = /distance high byte */
uint8_t altitude_L; /**< 243 244 = /Altitude low byte 500 = 0m */
uint8_t altitude_H; /**< 001 1 = /Altitude high byte */
uint8_t resolution_L; /**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
uint8_t resolution_H; /**< 117 = High Byte m/s resolution 0.01m */
uint8_t unknown1; /**< 120 = 0m/3s */
uint8_t gps_num_sat; /**< GPS.Satellites (number of satelites) (1 byte) */
uint8_t gps_fix_char; /**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
uint8_t home_direction; /**< HomeDirection (direction from starting point to Model position) (1 byte) */
uint8_t angle_x_direction; /**< angle x-direction (1 byte) */
uint8_t angle_y_direction; /**< angle y-direction (1 byte) */
uint8_t angle_z_direction; /**< angle z-direction (1 byte) */
uint8_t gyro_x_L; /**< gyro x low byte (2 bytes) */
uint8_t gyro_x_H; /**< gyro x high byte */
uint8_t gyro_y_L; /**< gyro y low byte (2 bytes) */
uint8_t gyro_y_H; /**< gyro y high byte */
uint8_t gyro_z_L; /**< gyro z low byte (2 bytes) */
uint8_t gyro_z_H; /**< gyro z high byte */
uint8_t vibration; /**< vibration (1 bytes) */
uint8_t ascii4; /**< 00 ASCII Free Character [4] */
uint8_t ascii5; /**< 00 ASCII Free Character [5] */
uint8_t gps_fix; /**< 00 ASCII Free Character [6], we use it for GPS FIX */
uint8_t version;
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed */
};
// The maximum size of a message.

3
src/drivers/mpu6000/mpu6000.cpp
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@ -1063,7 +1063,8 @@ start() @@ -1063,7 +1063,8 @@ start()
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver */
g_dev = new MPU6000(1 /* XXX magic number */, (spi_dev_e)PX4_SPIDEV_MPU);

3
src/drivers/ms5611/ms5611.cpp
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@ -969,7 +969,8 @@ start() @@ -969,7 +969,8 @@ start()
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver */
g_dev = new MS5611(MS5611_BUS);

2
src/modules/commander/commander.c
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@ -282,7 +282,7 @@ void tune_error(void) @@ -282,7 +282,7 @@ void tune_error(void)
void do_rc_calibration(int status_pub, struct vehicle_status_s *status)
{
if (current_status.offboard_control_signal_lost) {
if (current_status.rc_signal_lost) {
mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal.");
return;
}

21
src/modules/mavlink/mavlink.c
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@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf @@ -420,12 +420,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
case 921600: speed = B921600; break;
default:
fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
return -EINVAL;
}
/* open uart */
printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
warnx("UART is %s, baudrate is %d\n", uart_name, baud);
uart = open(uart_name, O_RDWR | O_NOCTTY);
/* Try to set baud rate */
@ -433,11 +433,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf @@ -433,11 +433,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
int termios_state;
*is_usb = false;
/* make some wild guesses including that USB serial is indicated by either /dev/ttyACM0 or /dev/console */
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/console") != OK) {
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERROR get termios config %s: %d\n", uart_name, termios_state);
close(uart);
return -1;
}
@ -448,24 +446,24 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf @@ -448,24 +446,24 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
close(uart);
return -1;
}
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
close(uart);
return -1;
}
} else {
*is_usb = true;
}
return uart;
}
@ -751,7 +749,6 @@ int mavlink_thread_main(int argc, char *argv[]) @@ -751,7 +749,6 @@ int mavlink_thread_main(int argc, char *argv[])
pthread_join(uorb_receive_thread, NULL);
/* Reset the UART flags to original state */
if (!usb_uart)
tcsetattr(uart, TCSANOW, &uart_config_original);
thread_running = false;

4
src/modules/systemlib/airspeed.c
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@ -62,7 +62,7 @@ float calc_indicated_airspeed(float differential_pressure) @@ -62,7 +62,7 @@ float calc_indicated_airspeed(float differential_pressure)
if (differential_pressure > 0) {
return sqrtf((2.0f*differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
} else {
return -sqrtf((2.0f*fabs(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
return -sqrtf((2.0f*fabsf(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
}
}
@ -106,6 +106,6 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp @@ -106,6 +106,6 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp
return sqrtf((2.0f*(pressure_difference)) / density);
} else
{
return -sqrtf((2.0f*fabs(pressure_difference)) / density);
return -sqrtf((2.0f*fabsf(pressure_difference)) / density);
}
}

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