[paparazzi-commits] [4301] Allow airframe to override AIRSPEED_ETS_SCALE and AIRSPEED_ETS_OFFSET, otherwise use the existing value by default

[Allen Ibara]

Revision: 4301
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4301
Author:   aibara
Date:     2009-10-29 23:23:37 +0000 (Thu, 29 Oct 2009)
Log Message:
-----------
Allow airframe to override AIRSPEED_ETS_SCALE and AIRSPEED_ETS_OFFSET, 
otherwise use the existing value by default

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/airspeed_ets.c

Modified: paparazzi3/trunk/sw/airborne/airspeed_ets.c
===================================================================
--- paparazzi3/trunk/sw/airborne/airspeed_ets.c 2009-10-29 21:25:18 UTC (rev 
4300)
+++ paparazzi3/trunk/sw/airborne/airspeed_ets.c 2009-10-29 23:23:37 UTC (rev 
4301)
@@ -46,7 +46,12 @@
 
 #define AIRSPEED_ETS_ADDR 0xEA
 #define AIRSPEED_ETS_REG 0x07
+#ifndef AIRSPEED_ETS_SCALE
 #define AIRSPEED_ETS_SCALE 1.8
+#endif
+#ifndef AIRSPEED_ETS_OFFSET
+#define AIRSPEED_ETS_OFFSET 0
+#endif
 #define AIRSPEED_ETS_OFFSET_MAX 1750
 #define AIRSPEED_ETS_OFFSET_MIN 1550
 #define AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT 40
@@ -127,7 +132,7 @@
     }    
     // Convert raw to m/s
     if (airspeed_ets_offset_init && airspeed_ets_raw > airspeed_ets_offset)
-      airspeed_tmp = AIRSPEED_ETS_SCALE * sqrt( 
(float)(airspeed_ets_raw-airspeed_ets_offset) );
+      airspeed_tmp = AIRSPEED_ETS_SCALE * sqrt( 
(float)(airspeed_ets_raw-airspeed_ets_offset) ) - AIRSPEED_ETS_OFFSET;
     else
       airspeed_tmp = 0.0;
     // Airspeed should always be positive