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AP_Windvane: add rpm wind speed snesor type

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This commit is contained in:
IamPete1 2019-02-25 16:48:58 +00:00 committed by Randy Mackay
parent 696953fb97
commit 4bb28eb63c
2 changed files with 16 additions and 4 deletions
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18
libraries/AP_WindVane/AP_WindVane.cpp
View File

@ -118,7 +118,7 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
// @Param: SPEED_TYPE
// @DisplayName: Wind speed sensor Type
// @Description: Wind speed sensor type
// @Values: 0:None,1:Airspeed library,2:Moden Devices Wind Sensor,3:SITL
// @Values: 0:None,1:Airspeed library,2:Modern Devices Wind Sensor,3:RPM library,10:SITL
// @User: Standard
AP_GROUPINFO("SPEED_TYPE", 11, AP_WindVane, _speed_sensor_type, 0),
@ -131,7 +131,7 @@ const AP_Param::GroupInfo AP_WindVane::var_info[] = {
// @Param: TEMP_PIN
// @DisplayName: Wind vane speed sensor analog temp pin
// @Description: Wind speed sensor analog temp input pin for Moden Devices Wind Sensor rev. p, set to -1 to diasble temp readings
// @Description: Wind speed sensor analog temp input pin for Modern Devices Wind Sensor rev. p, set to -1 to diasble temp readings
// @Values: 11:Pixracer,13:Pixhawk ADC4,14:Pixhawk ADC3,15:Pixhawk ADC6,15:Pixhawk2 ADC,50:PixhawkAUX1,51:PixhawkAUX2,52:PixhawkAUX3,53:PixhawkAUX4,54:PixhawkAUX5,55:PixhawkAUX6,103:Pixhawk SBUS
// @User: Standard
AP_GROUPINFO("TEMP_PIN", 13, AP_WindVane, _speed_sensor_temp_pin, WINDSPEED_DEFAULT_TEMP_PIN),
@ -289,7 +289,7 @@ float AP_WindVane::read_SITL_direction_ef()
const float wind_speed = AP::sitl()->wind_speed_active;
const float wind_dir_rad = radians(AP::sitl()->wind_direction_active);
// Note than the SITL wind direction is defined as the direction the wind is travelling to
// Note than the SITL wind direction is defined as the direction the wind is traveling to
// This is accounted for in these calculations
// convert true wind speed and direction into a 2D vector
@ -360,7 +360,7 @@ void AP_WindVane::update_apparent_wind_speed()
_speed_apparent = 0.0f;
break;
case WINDSPEED_AIRSPEED: {
AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
const AP_Airspeed* airspeed = AP_Airspeed::get_singleton();
if (airspeed != nullptr) {
apparent_speed_in = airspeed->get_airspeed();
}
@ -374,6 +374,16 @@ void AP_WindVane::update_apparent_wind_speed()
apparent_speed_in = read_wind_speed_SITL();
#endif
break;
case WINDSPEED_RPM: {
const AP_RPM* rpm = AP_RPM::get_singleton();
if (rpm != nullptr) {
const float temp_speed = rpm->get_rpm(0);
if (!is_negative(temp_speed)) {
apparent_speed_in = temp_speed;
}
}
break;
}
}
// apply low pass filter if enabled

2
libraries/AP_WindVane/AP_WindVane.h
View File

@ -18,6 +18,7 @@
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_RPM/AP_RPM.h>
class AP_WindVane
{
@ -142,6 +143,7 @@ private:
WINDSPEED_NONE = 0,
WINDSPEED_AIRSPEED = 1,
WINDVANE_WIND_SENSOR_REV_P = 2,
WINDSPEED_RPM = 3,
WINDSPEED_SITL = 10
};