ardupilot/ArduPlane/sensors.cpp

#include "Plane.h"
#include <AP_RSSI/AP_RSSI.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>

/*
  read the rangefinder and update height estimate
 */
void Plane::read_rangefinder(void)
{

    // notify the rangefinder of our approximate altitude above ground to allow it to power on
    // during low-altitude flight when configured to power down during higher-altitude flight
    float height;
#if AP_TERRAIN_AVAILABLE
    if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
        rangefinder.set_estimated_terrain_height(height);
    } else
#endif
    {
        // use the best available alt estimate via baro above home
        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
            // ensure the rangefinder is powered-on when land alt is higher than home altitude.
            // This is done using the target alt which we know is below us and we are sinking to it
            height = height_above_target();
        } else {
            // otherwise just use the best available baro estimate above home.
            height = relative_altitude;
        }
        rangefinder.set_estimated_terrain_height(height);
    }

    rangefinder.update();

    if ((rangefinder.num_sensors() > 0) && should_log(MASK_LOG_SONAR)) {
        Log_Write_Sonar();
    }

    rangefinder_height_update();
}

/*
    Accel calibration
*/
void Plane::accel_cal_update() {
    if (hal.util->get_soft_armed()) {
        return;
    }
    ins.acal_update();
    float trim_roll, trim_pitch;
    if(ins.get_new_trim(trim_roll, trim_pitch)) {
        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
    }
}

/*
  ask airspeed sensor for a new value
 */
void Plane::read_airspeed(void)
{
    airspeed.update(should_log(MASK_LOG_IMU));

    // we calculate airspeed errors (and thus target_airspeed_cm) even
    // when airspeed is disabled as TECS may be using synthetic
    // airspeed for a quadplane transition
    calc_airspeed_errors();
    
    // update smoothed airspeed estimate
    float aspeed;
    if (ahrs.airspeed_estimate(aspeed)) {
        smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
    }
}

/*
  update RPM sensors
 */
void Plane::rpm_update(void)
{
    rpm_sensor.update();
    if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
        if (should_log(MASK_LOG_RC)) {
            logger.Write_RPM(rpm_sensor);
        }
    }
}