C++ (Cpp) VotedSensorsUpdate::baro_pressure示例

void
Sensors::diff_pres_poll(struct sensor_combined_s &raw)
{
	bool updated;
	orb_check(_diff_pres_sub, &updated);

	if (updated) {
		orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);

		float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature :
						(raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);

		_airspeed.timestamp = _diff_pres.timestamp;

		/* push data into validator */
		_airspeed_validator.put(_airspeed.timestamp, _diff_pres.differential_pressure_raw_pa, _diff_pres.error_count, 100);

#ifdef __PX4_POSIX
		_airspeed.confidence = 1.0f;
#else
		_airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time());
#endif

		/* don't risk to feed negative airspeed into the system */
		_airspeed.indicated_airspeed_m_s = math::max(0.0f,
						   calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa));

		_airspeed.true_airspeed_m_s = math::max(0.0f,
							calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + _voted_sensors_update.baro_pressure() * 1e2f,
									_voted_sensors_update.baro_pressure() * 1e2f, air_temperature_celsius));
		_airspeed.true_airspeed_unfiltered_m_s = math::max(0.0f,
				calc_true_airspeed(_diff_pres.differential_pressure_raw_pa + _voted_sensors_update.baro_pressure() * 1e2f,
						   _voted_sensors_update.baro_pressure() * 1e2f, air_temperature_celsius));

		_airspeed.air_temperature_celsius = air_temperature_celsius;
		_airspeed.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;

		int instance;
		orb_publish_auto(ORB_ID(airspeed), &_airspeed_pub, &_airspeed, &instance, ORB_PRIO_DEFAULT);
	}
}