ardupilot/Tools/ArduTracker/sensors.pde

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2011-09-08 22:31:32 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
void ReadSCP1000(void) {}
// Sensors are not available in HIL_MODE_ATTITUDE
#if HIL_MODE != HIL_MODE_ATTITUDE
void read_airpressure(void){
double x;
pitot.Read(); // Get new data from absolute pressure sensor
abs_press = pitot.Press;
abs_press_filt = (abs_press); // + 2l * abs_press_filt) / 3l; // Light filtering
//temperature = (temperature * 9 + temp_unfilt) / 10; We will just use the ground temp for the altitude calculation
double p = (double)abs_press_gnd / (double)abs_press_filt;
double temp = (float)ground_temperature / 10.f + 273.15f;
x = log(p) * temp * 29271.267f;
//x = log(p) * temp * 29.271267 * 1000;
press_alt = (long)(x / 10) + ground_alt; // Pressure altitude in centimeters
// Need to add comments for theory.....
}
// in M/S * 100
void read_airspeed(void)
{
#if GPS_PROTOCOL != GPS_PROTOCOL_IMU // Xplane will supply the airspeed
airpressure_raw = ((float)adc.Ch(AIRSPEED_CH) * .25) + (airpressure_raw * .75);
airpressure = (int)airpressure_raw - airpressure_offset;
airpressure = max(airpressure, 0);
airspeed = sqrt((float)airpressure * get(PARAM_ARSPD_RATIO)) * 100;
#endif
calc_airspeed_errors();
}
void zero_airspeed(void)
{
airpressure_raw = (float)adc.Ch(AIRSPEED_CH);
for(int c = 0; c < 50; c++){
delay(20);
airpressure_raw = (airpressure_raw * .90) + ((float)adc.Ch(AIRSPEED_CH) * .10);
}
airpressure_offset = airpressure_raw;
}
#endif // HIL_MODE != HIL_MODE_ATTITUDE
#if BATTERY_EVENT == 1
void read_battery(void)
{
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9;
battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
#if BATTERY_TYPE == 0
if(battery_voltage3 < LOW_VOLTAGE)
low_battery_event();
battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
#endif
#if BATTERY_TYPE == 1
if(battery_voltage4 < LOW_VOLTAGE)
low_battery_event();
battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream
#endif
}
#endif