2011-03-19 07:20:11 -03:00
|
|
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2011-02-25 01:33:39 -04:00
|
|
|
// Sensors are not available in HIL_MODE_ATTITUDE
|
|
|
|
#if HIL_MODE != HIL_MODE_ATTITUDE
|
|
|
|
|
2011-07-17 07:32:00 -03:00
|
|
|
static void ReadSCP1000(void) {}
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2011-12-11 03:40:59 -04:00
|
|
|
#if CONFIG_SONAR == ENABLED
|
|
|
|
static void init_sonar(void)
|
|
|
|
{
|
|
|
|
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
|
|
|
|
sonar.calculate_scaler(g.sonar_type, 3.3);
|
|
|
|
#else
|
|
|
|
sonar.calculate_scaler(g.sonar_type, 5.0);
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
2011-07-17 07:32:00 -03:00
|
|
|
static void init_barometer(void)
|
2010-12-19 12:40:33 -04:00
|
|
|
{
|
2011-02-25 01:33:39 -04:00
|
|
|
#if HIL_MODE == HIL_MODE_SENSORS
|
2011-10-11 06:12:37 -03:00
|
|
|
gcs_update(); // look for inbound hil packets for initialization
|
2011-02-25 01:33:39 -04:00
|
|
|
#endif
|
|
|
|
|
2011-11-30 00:37:50 -04:00
|
|
|
ground_temperature = barometer.get_temperature();
|
2011-09-04 21:15:36 -03:00
|
|
|
int i;
|
2011-02-25 01:33:39 -04:00
|
|
|
|
2011-06-16 14:03:26 -03:00
|
|
|
// We take some readings...
|
2011-09-04 21:15:36 -03:00
|
|
|
for(i = 0; i < 60; i++){
|
|
|
|
delay(20);
|
2011-09-07 01:56:19 -03:00
|
|
|
|
2011-09-04 21:15:36 -03:00
|
|
|
// get new data from absolute pressure sensor
|
2011-11-30 00:37:50 -04:00
|
|
|
barometer.read();
|
2011-09-04 21:15:36 -03:00
|
|
|
|
2011-09-07 01:56:19 -03:00
|
|
|
//Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press);
|
2011-09-04 21:15:36 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
for(i = 0; i < 20; i++){
|
2011-07-30 17:42:54 -03:00
|
|
|
delay(20);
|
2011-02-25 01:33:39 -04:00
|
|
|
|
|
|
|
#if HIL_MODE == HIL_MODE_SENSORS
|
2011-10-11 06:12:37 -03:00
|
|
|
gcs_update(); // look for inbound hil packets
|
2011-02-25 01:33:39 -04:00
|
|
|
#endif
|
|
|
|
|
2011-06-16 14:03:26 -03:00
|
|
|
// Get initial data from absolute pressure sensor
|
2011-11-30 00:37:50 -04:00
|
|
|
barometer.read();
|
|
|
|
ground_pressure = barometer.get_pressure();
|
2011-12-26 19:13:47 -04:00
|
|
|
ground_temperature = (ground_temperature * 7 + barometer.get_temperature()) / 8;
|
2011-09-07 01:56:19 -03:00
|
|
|
//Serial.printf("init %ld, %d, -, %ld, %ld, -, %d, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press, ground_temperature, ground_pressure);
|
2010-12-19 12:40:33 -04:00
|
|
|
}
|
2011-06-16 14:03:26 -03:00
|
|
|
}
|
2010-12-19 12:40:33 -04:00
|
|
|
|
2011-12-26 19:13:47 -04:00
|
|
|
static void reset_baro(void)
|
2011-06-16 14:03:26 -03:00
|
|
|
{
|
2011-12-26 19:13:47 -04:00
|
|
|
ground_pressure = barometer.get_pressure();
|
|
|
|
ground_temperature = barometer.get_temperature();
|
2011-02-25 01:33:39 -04:00
|
|
|
}
|
2011-12-26 19:13:47 -04:00
|
|
|
|
2011-11-07 18:24:32 -04:00
|
|
|
static int32_t read_barometer(void)
|
2011-02-21 00:30:56 -04:00
|
|
|
{
|
2010-12-19 12:40:33 -04:00
|
|
|
float x, scaling, temp;
|
2011-02-20 19:09:28 -04:00
|
|
|
|
2011-11-30 00:37:50 -04:00
|
|
|
barometer.read();
|
2012-01-03 14:26:56 -04:00
|
|
|
float abs_pressure = barometer.get_pressure();
|
2011-09-07 01:56:19 -03:00
|
|
|
|
2011-06-16 14:03:26 -03:00
|
|
|
|
|
|
|
//Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure);
|
2011-02-20 19:09:28 -04:00
|
|
|
|
2012-01-03 14:26:56 -04:00
|
|
|
scaling = (float)ground_pressure / abs_pressure;
|
2011-02-21 00:30:56 -04:00
|
|
|
temp = ((float)ground_temperature / 10.0f) + 273.15f;
|
2010-12-19 12:40:33 -04:00
|
|
|
x = log(scaling) * temp * 29271.267f;
|
2011-02-21 00:30:56 -04:00
|
|
|
return (x / 10);
|
2010-12-19 12:40:33 -04:00
|
|
|
}
|
|
|
|
|
2011-02-24 01:56:59 -04:00
|
|
|
|
2011-12-30 23:29:54 -04:00
|
|
|
#endif // HIL_MODE != HIL_MODE_ATTITUDE
|
|
|
|
|
2011-12-29 23:06:31 -04:00
|
|
|
static void init_compass()
|
|
|
|
{
|
|
|
|
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
|
|
|
|
dcm.set_compass(&compass);
|
|
|
|
compass.init();
|
|
|
|
compass.get_offsets(); // load offsets to account for airframe magnetic interference
|
2012-01-12 17:43:39 -04:00
|
|
|
compass.null_offsets_enable();
|
2011-12-29 23:06:31 -04:00
|
|
|
}
|
|
|
|
|
|
|
|
static void init_optflow()
|
|
|
|
{
|
|
|
|
#ifdef OPTFLOW_ENABLED
|
|
|
|
if( optflow.init(false) == false ) {
|
|
|
|
g.optflow_enabled = false;
|
|
|
|
SendDebug("\nFailed to Init OptFlow ");
|
|
|
|
}
|
|
|
|
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
|
|
|
|
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
|
|
|
|
// setup timed read of sensor
|
|
|
|
//timer_scheduler.register_process(&AP_OpticalFlow::read);
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
2011-07-17 07:32:00 -03:00
|
|
|
static void read_battery(void)
|
2010-12-19 12:40:33 -04:00
|
|
|
{
|
2011-01-17 22:48:44 -04:00
|
|
|
|
2012-01-15 20:10:02 -04:00
|
|
|
if(g.battery_monitoring == 0){
|
|
|
|
battery_voltage1 = 0;
|
|
|
|
return;
|
|
|
|
}
|
2012-01-20 18:29:09 -04:00
|
|
|
|
|
|
|
if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
|
2012-01-15 20:10:02 -04:00
|
|
|
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9;
|
2011-05-09 12:46:56 -03:00
|
|
|
if(g.battery_monitoring == 4) {
|
2012-01-20 18:29:09 -04:00
|
|
|
current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin
|
|
|
|
current_total1 += current_amps1 * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
|
2011-05-09 12:46:56 -03:00
|
|
|
}
|
2011-02-20 19:09:28 -04:00
|
|
|
|
2011-05-09 12:46:56 -03:00
|
|
|
#if BATTERY_EVENT == 1
|
2011-09-18 21:12:28 -03:00
|
|
|
//if(battery_voltage < g.low_voltage)
|
|
|
|
// low_battery_event();
|
2011-07-30 17:42:54 -03:00
|
|
|
|
2012-01-15 20:10:02 -04:00
|
|
|
if((battery_voltage1 < g.low_voltage) || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity)){
|
2011-07-30 17:42:54 -03:00
|
|
|
low_battery_event();
|
2011-09-18 21:12:28 -03:00
|
|
|
|
|
|
|
#if PIEZO_LOW_VOLTAGE == 1
|
|
|
|
// Only Activate if a battery is connected to avoid alarm on USB only
|
|
|
|
if (battery_voltage1 > 1){
|
|
|
|
piezo_on();
|
|
|
|
}else{
|
|
|
|
piezo_off();
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
|
|
}else{
|
|
|
|
#if PIEZO_LOW_VOLTAGE == 1
|
|
|
|
piezo_off();
|
|
|
|
#endif
|
|
|
|
}
|
2011-01-16 23:44:12 -04:00
|
|
|
#endif
|
2010-12-19 12:40:33 -04:00
|
|
|
}
|
2011-01-17 22:48:44 -04:00
|
|
|
|
|
|
|
//v: 10.9453, a: 17.4023, mah: 8.2
|