mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
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#include "AP_Airspeed_External.h"
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#if AP_AIRSPEED_EXTERNAL_ENABLED
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AP_Airspeed_External::AP_Airspeed_External(AP_Airspeed &_frontend, uint8_t _instance) :
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AP_Airspeed_Backend(_frontend, _instance)
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{
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set_bus_id(AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,0,_instance,0));
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}
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// return the current differential_pressure in Pascal
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bool AP_Airspeed_External::get_differential_pressure(float &pressure)
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{
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WITH_SEMAPHORE(sem);
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if (press_count == 0) {
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return false;
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}
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pressure = sum_pressure/press_count;
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press_count = 0;
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sum_pressure = 0;
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return true;
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}
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// get last temperature
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bool AP_Airspeed_External::get_temperature(float &temperature)
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{
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WITH_SEMAPHORE(sem);
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if (temperature_count == 0) {
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return false;
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}
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temperature = sum_temperature/temperature_count;
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temperature_count = 0;
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sum_temperature = 0;
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return true;
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}
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void AP_Airspeed_External::handle_external(const AP_ExternalAHRS::airspeed_data_message_t &pkt)
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{
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WITH_SEMAPHORE(sem);
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sum_pressure += pkt.differential_pressure;
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press_count++;
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if (press_count > 100) {
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// prevent overflow
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sum_pressure /= 2;
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press_count /= 2;
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}
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sum_temperature += pkt.temperature;
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temperature_count++;
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if (temperature_count > 100) {
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// prevent overflow
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sum_temperature /= 2;
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temperature_count /= 2;
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}
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}
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#endif // AP_AIRSPEED_EXTERNAL_ENABLED
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