ardupilot/libraries/AP_WindVane/AP_WindVane_ModernDevice.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_ModernDevice.h"
// read wind speed from Modern Device rev p wind sensor
// https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
// constructor
AP_WindVane_ModernDevice::AP_WindVane_ModernDevice(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
_speed_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
_temp_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
}
void AP_WindVane_ModernDevice::update_speed()
{
float analog_voltage = 0.0f;
// only read temp pin if defined, sensor will do OK assuming constant temp
float temp_ambient = 28.0f; // equations were generated at this temp in above data sheet
if (is_positive(_frontend._speed_sensor_temp_pin.get())) {
if (!_temp_analog_source->set_pin(_frontend._speed_sensor_temp_pin.get())) {
// pin invalid, don't have health monitoring to report yet
return;
}
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analog_voltage = _temp_analog_source->voltage_average();
temp_ambient = (analog_voltage - 0.4f) / 0.0195f; // deg C
// constrain to reasonable range to avoid deviating from calibration too much and potential divide by zero
temp_ambient = constrain_float(temp_ambient, 10.0f, 40.0f);
}
if (!_speed_analog_source->set_pin(_frontend._speed_sensor_speed_pin.get())) {
// pin invalid, don't have health monitoring to report yet
return;
}
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_current_analog_voltage = _speed_analog_source->voltage_average();
// apply voltage offset and make sure not negative
// by default the voltage offset is the number provide by the manufacturer
analog_voltage = _current_analog_voltage - _frontend._speed_sensor_voltage_offset;
if (is_negative(analog_voltage)) {
analog_voltage = 0.0f;
}
// simplified equation from data sheet, converted from mph to m/s
_frontend._speed_apparent_raw = 24.254896f * powf((analog_voltage / powf(temp_ambient, 0.115157f)), 3.009364f);
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}
void AP_WindVane_ModernDevice::calibrate()
{
gcs().send_text(MAV_SEVERITY_INFO, "WindVane: rev P. zero wind voltage offset set to %.1f",double(_current_analog_voltage));
_frontend._speed_sensor_voltage_offset.set_and_save(_current_analog_voltage);
_frontend._calibration.set_and_save(0);
}