mirror of https://github.com/ArduPilot/ardupilot
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
|
#include "SIM_MS5525.h"
|
||
|
|
||
|
#include <SITL/SITL.h>
|
||
|
|
||
|
using namespace SITL;
|
||
|
|
||
|
void MS5525::convert_forward(int32_t D1, int32_t D2, float &P_Pa, float &Temp_C)
|
||
|
{
|
||
|
const uint8_t Q1 = Qx_coeff[0];
|
||
|
const uint8_t Q2 = Qx_coeff[1];
|
||
|
const uint8_t Q3 = Qx_coeff[2];
|
||
|
const uint8_t Q4 = Qx_coeff[3];
|
||
|
const uint8_t Q5 = Qx_coeff[4];
|
||
|
const uint8_t Q6 = Qx_coeff[5];
|
||
|
|
||
|
// this is the forward conversion copied from the driver:
|
||
|
int64_t dT = D2 - int64_t(prom[5]) * (1UL<<Q5);
|
||
|
int64_t TEMP = 2000 + (dT*int64_t(prom[6]))/(1UL<<Q6);
|
||
|
int64_t OFF = int64_t(prom[2])*(1UL<<Q2) + (int64_t(prom[4])*dT)/(1UL<<Q4);
|
||
|
int64_t SENS = int64_t(prom[1])*(1UL<<Q1) + (int64_t(prom[3])*dT)/(1UL<<Q3);
|
||
|
int64_t P = (D1*SENS/(1UL<<21)-OFF)/(1UL<<15);
|
||
|
const float PSI_to_Pa = 6894.757f;
|
||
|
P_Pa = PSI_to_Pa * 1.0e-4 * P;
|
||
|
Temp_C = TEMP * 0.01;
|
||
|
}
|
||
|
|
||
|
void MS5525::convert(float P_Pa, float Temp_C, uint32_t &D1, uint32_t &D2)
|
||
|
{
|
||
|
const uint8_t Q1 = Qx_coeff[0];
|
||
|
const uint8_t Q2 = Qx_coeff[1];
|
||
|
const uint8_t Q3 = Qx_coeff[2];
|
||
|
const uint8_t Q4 = Qx_coeff[3];
|
||
|
const uint8_t Q5 = Qx_coeff[4];
|
||
|
const uint8_t Q6 = Qx_coeff[5];
|
||
|
|
||
|
const int64_t TEMP = Temp_C * 100.0f;
|
||
|
const float dT = ((TEMP-2000)*(1UL<<Q6))/prom[6];
|
||
|
const float PSI_to_Pa = 6894.757f;
|
||
|
const float P = P_Pa / (PSI_to_Pa * 1.0e-4);
|
||
|
const int64_t SENS = int64_t(prom[1])*(1UL<<Q1) + (int64_t(prom[3])*dT)/(1UL<<Q3);
|
||
|
const int64_t OFF = int64_t(prom[2])*(1UL<<Q2) + (int64_t(prom[4])*dT)/(1UL<<Q4);
|
||
|
D1 = (((uint64_t(P*(1U<<15)))+OFF)<<21)/SENS;
|
||
|
D2 = dT + int64_t(prom[5]) * (1UL<<Q5);
|
||
|
|
||
|
|
||
|
float f_P_Pa;
|
||
|
float f_Temp_C;
|
||
|
convert_forward(D1, D2, f_P_Pa, f_Temp_C);
|
||
|
if (fabs(f_P_Pa - P_Pa) > 1) {
|
||
|
AP_HAL::panic("Invalid conversion");
|
||
|
}
|
||
|
if (fabs(f_Temp_C - Temp_C) > 0.1) {
|
||
|
AP_HAL::panic("Invalid conversion");
|
||
|
}
|
||
|
}
|
||
|
|
||
|
void MS5525::get_pressure_temperature_readings(float &P_Pa, float &Temp_C)
|
||
|
{
|
||
|
Temp_C = 25.0f;
|
||
|
P_Pa = AP::sitl()->state.airspeed_raw_pressure[0];
|
||
|
}
|