ardupilot/ArduPlane/sensors.cpp

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#include "Plane.h"
#include <AP_RSSI/AP_RSSI.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
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/*
read the rangefinder and update height estimate
*/
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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));
}
}
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/*
ask airspeed sensor for a new value
*/
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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();
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if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
if (should_log(MASK_LOG_RC)) {
logger.Write_RPM(rpm_sensor);
}
}
}