2011-03-19 07:20:11 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2010-12-19 12:40:33 -04:00
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2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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void Copter::init_barometer(bool full_calibration)
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2010-12-19 12:40:33 -04:00
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{
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2015-11-04 13:32:01 -04:00
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gcs_send_text(MAV_SEVERITY_NOTICE, "Calibrating barometer");
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2014-01-15 10:18:23 -04:00
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if (full_calibration) {
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barometer.calibrate();
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}else{
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barometer.update_calibration();
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}
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2015-11-04 13:32:01 -04:00
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gcs_send_text(MAV_SEVERITY_INFO, "barometer calibration complete");
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2011-02-25 01:33:39 -04:00
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}
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2011-12-26 19:13:47 -04:00
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2012-06-20 02:17:15 -03:00
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// return barometric altitude in centimeters
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2015-05-29 23:12:49 -03:00
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void Copter::read_barometer(void)
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2011-02-21 00:30:56 -04:00
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{
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2015-01-05 07:28:00 -04:00
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barometer.update();
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2014-10-16 21:37:49 -03:00
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if (should_log(MASK_LOG_IMU)) {
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2014-02-18 16:38:20 -04:00
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Log_Write_Baro();
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}
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2014-10-22 04:07:10 -03:00
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baro_alt = barometer.get_altitude() * 100.0f;
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baro_climbrate = barometer.get_climb_rate() * 100.0f;
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2015-04-22 22:19:44 -03:00
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motors.set_air_density_ratio(barometer.get_air_density_ratio());
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2010-12-19 12:40:33 -04:00
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}
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2014-10-31 08:40:24 -03:00
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#if CONFIG_SONAR == ENABLED
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2015-05-29 23:12:49 -03:00
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void Copter::init_sonar(void)
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2014-10-31 08:40:24 -03:00
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{
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sonar.init();
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}
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#endif
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2012-12-21 01:03:47 -04:00
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// return sonar altitude in centimeters
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2015-05-29 23:12:49 -03:00
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int16_t Copter::read_sonar(void)
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2012-12-21 01:03:47 -04:00
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{
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#if CONFIG_SONAR == ENABLED
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2014-06-27 01:23:56 -03:00
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sonar.update();
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2013-01-31 04:00:28 -04:00
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// exit immediately if sonar is disabled
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2015-06-11 04:58:13 -03:00
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if (sonar.status() != RangeFinder::RangeFinder_Good) {
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2013-01-31 04:00:28 -04:00
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sonar_alt_health = 0;
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return 0;
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}
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2014-06-27 01:23:56 -03:00
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int16_t temp_alt = sonar.distance_cm();
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2012-12-21 01:03:47 -04:00
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2014-06-27 01:23:56 -03:00
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if (temp_alt >= sonar.min_distance_cm() &&
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temp_alt <= sonar.max_distance_cm() * SONAR_RELIABLE_DISTANCE_PCT) {
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2013-01-08 03:41:07 -04:00
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if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
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sonar_alt_health++;
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}
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2012-12-29 00:51:14 -04:00
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}else{
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2013-01-08 03:41:07 -04:00
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sonar_alt_health = 0;
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2012-12-29 00:51:14 -04:00
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}
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2012-12-21 01:03:47 -04:00
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#if SONAR_TILT_CORRECTION == 1
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// correct alt for angle of the sonar
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2014-02-08 03:40:45 -04:00
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float temp = ahrs.cos_pitch() * ahrs.cos_roll();
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2013-01-10 14:42:24 -04:00
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temp = max(temp, 0.707f);
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2012-12-21 01:03:47 -04:00
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temp_alt = (float)temp_alt * temp;
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#endif
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return temp_alt;
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#else
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return 0;
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#endif
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}
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2015-08-07 02:34:56 -03:00
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/*
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update RPM sensors
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*/
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void Copter::rpm_update(void)
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{
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rpm_sensor.update();
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2015-08-07 07:34:27 -03:00
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if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
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if (should_log(MASK_LOG_RCIN)) {
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DataFlash.Log_Write_RPM(rpm_sensor);
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}
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}
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2015-08-07 02:34:56 -03:00
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}
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2014-10-31 08:40:24 -03:00
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// initialise compass
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2015-05-29 23:12:49 -03:00
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void Copter::init_compass()
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2011-12-29 23:06:31 -04:00
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{
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2012-08-16 21:50:03 -03:00
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if (!compass.init() || !compass.read()) {
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2012-02-24 23:09:12 -04:00
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// make sure we don't pass a broken compass to DCM
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2015-10-25 16:50:51 -03:00
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cliSerial->println("COMPASS INIT ERROR");
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2012-12-29 23:08:25 -04:00
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
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2012-02-24 23:09:12 -04:00
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return;
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}
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2012-03-11 05:36:12 -03:00
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ahrs.set_compass(&compass);
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2011-12-29 23:06:31 -04:00
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}
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2014-10-31 08:40:24 -03:00
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// initialise optical flow sensor
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2015-05-29 23:12:49 -03:00
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void Copter::init_optflow()
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2011-12-29 23:06:31 -04:00
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{
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2012-11-18 12:16:07 -04:00
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#if OPTFLOW == ENABLED
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2014-07-11 23:34:55 -03:00
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// exit immediately if not enabled
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if (!optflow.enabled()) {
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return;
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}
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2015-04-23 04:24:31 -03:00
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// initialise optical flow sensor
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2014-01-08 23:29:50 -04:00
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optflow.init();
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2012-11-18 12:16:07 -04:00
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#endif // OPTFLOW == ENABLED
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2011-12-29 23:06:31 -04:00
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}
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2014-12-07 21:29:32 -04:00
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// called at 200hz
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#if OPTFLOW == ENABLED
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2015-05-29 23:12:49 -03:00
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void Copter::update_optical_flow(void)
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2014-12-07 21:29:32 -04:00
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{
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static uint32_t last_of_update = 0;
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// exit immediately if not enabled
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if (!optflow.enabled()) {
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return;
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}
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// read from sensor
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optflow.update();
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// write to log and send to EKF if new data has arrived
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if (optflow.last_update() != last_of_update) {
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last_of_update = optflow.last_update();
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uint8_t flowQuality = optflow.quality();
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Vector2f flowRate = optflow.flowRate();
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Vector2f bodyRate = optflow.bodyRate();
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2015-04-15 22:31:31 -03:00
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ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update);
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2015-01-05 22:06:44 -04:00
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if (g.log_bitmask & MASK_LOG_OPTFLOW) {
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2014-12-07 21:29:32 -04:00
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Log_Write_Optflow();
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}
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}
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}
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#endif // OPTFLOW == ENABLED
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2012-11-13 10:43:54 -04:00
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// read_battery - check battery voltage and current and invoke failsafe if necessary
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// called at 10hz
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2015-05-29 23:12:49 -03:00
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void Copter::read_battery(void)
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2010-12-19 12:40:33 -04:00
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{
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2013-10-01 10:34:44 -03:00
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battery.read();
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2011-01-17 22:48:44 -04:00
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2013-10-01 10:34:44 -03:00
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// update compass with current value
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2014-12-03 01:32:44 -04:00
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if (battery.has_current()) {
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2013-10-01 10:34:44 -03:00
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compass.set_current(battery.current_amps());
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2012-08-16 21:50:03 -03:00
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}
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2015-02-11 07:50:55 -04:00
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// update motors with voltage and current
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if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
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motors.set_voltage(battery.voltage());
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}
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if (battery.has_current()) {
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motors.set_current(battery.current_amps());
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}
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2012-08-16 21:50:03 -03:00
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2012-11-13 10:43:54 -04:00
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// check for low voltage or current if the low voltage check hasn't already been triggered
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2013-09-12 10:41:28 -03:00
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// we only check when we're not powered by USB to avoid false alarms during bench tests
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2013-10-13 01:52:52 -03:00
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if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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failsafe_battery_event();
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2012-08-16 21:50:03 -03:00
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}
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2014-10-07 09:40:48 -03:00
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// log battery info to the dataflash
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2014-10-16 21:37:49 -03:00
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if (should_log(MASK_LOG_CURRENT)) {
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2014-10-07 09:40:48 -03:00
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Log_Write_Current();
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}
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2010-12-19 12:40:33 -04:00
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}
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2012-11-22 05:59:33 -04:00
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// read the receiver RSSI as an 8 bit number for MAVLink
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// RC_CHANNELS_SCALED message
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2015-05-29 23:12:49 -03:00
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void Copter::read_receiver_rssi(void)
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2012-11-22 05:59:33 -04:00
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{
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2015-08-28 03:00:55 -03:00
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receiver_rssi = rssi.read_receiver_rssi_uint8();
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2012-11-22 05:59:33 -04:00
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}
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2014-09-15 03:52:21 -03:00
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2015-07-01 16:36:53 -03:00
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void Copter::compass_cal_update()
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{
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if (!hal.util->get_soft_armed()) {
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compass.compass_cal_update();
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}
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}
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2014-09-15 03:52:21 -03:00
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#if EPM_ENABLED == ENABLED
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// epm update - moves epm pwm output back to neutral after grab or release is completed
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2015-05-29 23:12:49 -03:00
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void Copter::epm_update()
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2014-09-15 03:52:21 -03:00
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{
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epm.update();
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}
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#endif
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