Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: Add TSYS01 'celsius' object

Browse Source
This commit is contained in:
Jacob Walser 2017-01-13 14:51:48 -05:00 committed by Andrew Tridgell
parent ca603e1517
commit 098a716d41
5 changed files with 20 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduSub/GCS_Mavlink.cpp
View File

@ -448,6 +448,18 @@ void NOINLINE Sub::send_rpm(mavlink_channel_t chan)
} }
#endif #endif
// Work around to get temperature sensor data out
void NOINLINE Sub::send_temperature(mavlink_channel_t chan) {
if(!celsius.healthy()) {
return;
}
mavlink_msg_scaled_pressure3_send(
chan,
AP_HAL::millis(),
0,
0,
celsius.temperature() * 100);
}
/* /*
send PID tuning message send PID tuning message
@ -622,6 +634,7 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
case MSG_RAW_IMU2: case MSG_RAW_IMU2:
CHECK_PAYLOAD_SIZE(SCALED_PRESSURE); CHECK_PAYLOAD_SIZE(SCALED_PRESSURE);
send_scaled_pressure(sub.barometer); send_scaled_pressure(sub.barometer);
sub.send_temperature(chan);
break; break;
case MSG_RAW_IMU3: case MSG_RAW_IMU3:

3
ArduSub/Sub.h
View File

@ -88,6 +88,7 @@
#include <AC_InputManager/AC_InputManager.h> // Pilot input handling library #include <AC_InputManager/AC_InputManager.h> // Pilot input handling library
#include <AP_JSButton/AP_JSButton.h> // Joystick/gamepad button function assignment #include <AP_JSButton/AP_JSButton.h> // Joystick/gamepad button function assignment
#include "../libraries/AP_LeakDetector/AP_LeakDetector.h" // Leak detector #include "../libraries/AP_LeakDetector/AP_LeakDetector.h" // Leak detector
#include <AP_TemperatureSensor/TSYS01.h>
#include "defines.h" #include "defines.h"
#include "config.h" #include "config.h"
@ -176,6 +177,7 @@ private:
// flight modes convenience array // flight modes convenience array
AP_Int8 *flight_modes; AP_Int8 *flight_modes;
TSYS01 celsius;
AP_Baro barometer; AP_Baro barometer;
Compass compass; Compass compass;
AP_InertialSensor ins; AP_InertialSensor ins;
@ -538,6 +540,7 @@ private:
void send_rpm(mavlink_channel_t chan); void send_rpm(mavlink_channel_t chan);
void rpm_update(); void rpm_update();
#endif #endif
void send_temperature(mavlink_channel_t chan);
void send_pid_tuning(mavlink_channel_t chan); void send_pid_tuning(mavlink_channel_t chan);
void gcs_send_message(enum ap_message id); void gcs_send_message(enum ap_message id);
void gcs_send_mission_item_reached_message(uint16_t mission_index); void gcs_send_mission_item_reached_message(uint16_t mission_index);

1
ArduSub/make.inc
View File

@ -57,3 +57,4 @@ LIBRARIES += AP_JSButton
LIBRARIES += AP_LeakDetector LIBRARIES += AP_LeakDetector
LIBRARIES += AP_Gripper LIBRARIES += AP_Gripper
LIBRARIES += AP_Beacon LIBRARIES += AP_Beacon
LIBRARIES += AP_TemperatureSensor

2
ArduSub/system.cpp
View File

@ -124,6 +124,8 @@ void Sub::init_ardupilot()
barometer.init(); barometer.init();
celsius.init();
// Register the mavlink service callback. This will run // Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to // anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay. // hal.scheduler->delay.

1
ArduSub/wscript
View File

@ -30,6 +30,7 @@ def build(bld):
'AP_Proximity', 'AP_Proximity',
'AP_Gripper', 'AP_Gripper',
'AP_Beacon', 'AP_Beacon',
'AP_TemperatureSensor'
], ],
use='mavlink', use='mavlink',
) )