mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.6 KiB
C
64 lines
1.6 KiB
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_AIRSPEED_H__
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#define __AP_AIRSPEED_H__
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_AnalogSource.h>
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#include <Filter.h>
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#include <AverageFilter.h>
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class AP_Airspeed
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{
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public:
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// constructor
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AP_Airspeed(AP_AnalogSource *source, float ratio, bool enable) {
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_source = source;
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_offset.set(0);
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_ratio.set(ratio);
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// by default enable but don't use the airspeed sensor
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_use.set(1);
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_enable.set(enable?1:0);
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}
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// read the analog source and update _airspeed
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void read(void);
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// calibrate the airspeed. This must be called on startup if the
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// altitude/climb_rate/acceleration interfaces are ever used
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// the callback is a delay() like routine
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void calibrate(void (*callback)(unsigned long t));
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// return the current airspeed in m/s
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float get_airspeed(void) { return _airspeed; }
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// return the current airspeed in cm/s
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float get_airspeed_cm(void) { return _airspeed*100; }
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// return true if airspeed is enabled, and airspeed use is set
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bool use(void) { return _enable && _use; }
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// return true if airspeed is enabled
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bool enabled(void) { return _enable; }
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// used by HIL to set the airspeed
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void set_HIL(float airspeed) { _airspeed = airspeed; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_AnalogSource *_source;
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AP_Float _offset;
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AP_Float _ratio;
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AP_Int8 _use;
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AP_Int8 _enable;
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float _airspeed;
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float _airspeed_raw;
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AverageFilterFloat_Size5 _filter;
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};
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#endif // __AP_AIRSPEED_H__
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