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