ardupilot/libraries/AP_ADC/AP_ADC_HIL.cpp

#include "AP_ADC_HIL.h"
#include "WProgram.h"

/*
	AP_ADC_HIL.cpp
	Author: James Goppert

	License:
	This library is free software; you can redistribute it and/or
	modify it under the terms of the GNU Lesser General Public
	License as published by the Free Software Foundation; either
	version 2.1 of the License, or (at your option) any later version.
*/

const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
const int8_t AP_ADC_HIL::sensorSign[6]	= { 1, -1, -1,-1,  1,  1};
const float AP_ADC_HIL::gyroBias[3]	= {1665,1665,1665};
const float AP_ADC_HIL::accelBias[3]	= {2025,2025,2025};
// gyroScale = 1/[GyroGain*pi/180]   GyroGains (0.4,0.41,0.41)
const float AP_ADC_HIL::gyroScale[3] = {143.239, 139.746, 139.746};
const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG

AP_ADC_HIL::AP_ADC_HIL()
{
	// gyros set to zero for calibration
	setGyro(0,0);
	setGyro(1,0);
	setGyro(2,0);

	// accels set to zero for calibration
	setAccel(0,0);
	setAccel(1,0);
	setAccel(2,0);

	// set diff press and temp to zero
	setGyroTemp(0);
	setPressure(0);

	last_hil_time = millis();
}

void AP_ADC_HIL::Init(void)
{
}

// Read one channel value
uint16_t AP_ADC_HIL::Ch(unsigned char ch_num)
{
	return adcValue[ch_num];
}

// Read 6 channel values
uint32_t AP_ADC_HIL::Ch6(const uint8_t *channel_numbers, uint16_t *result)
{
	for (uint8_t i=0; i<6; i++) {
		result[i] = Ch(channel_numbers[i]);
	}
	return ((millis() - last_hil_time)*2)/5;
}

// Set one channel value
void AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
    int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
{
    // gyros
	setGyro(0,p);
	setGyro(1,q);
	setGyro(2,r);

	// temp
	setGyroTemp(gyroTemp);

	// accel
	setAccel(0,aX);
	setAccel(1,aY);
	setAccel(2,aZ);

    // differential pressure
	setPressure(diffPress);
}