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APM: update for new barometer interface 

the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
This commit is contained in:
Andrew Tridgell 2012-06-20 12:26:58 +10:00
parent 53e950531e
commit 4fda89beb7
3 changed files with 16 additions and 60 deletions
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3
ArduPlane/ArduPlane.pde
View File

@ -46,6 +46,7 @@ version 2.1 of the License, or (at your option) any later version.
#include <AP_RangeFinder.h> // Range finder library
#include <Filter.h> // Filter library
#include <ModeFilter.h> // Mode Filter from Filter library
#include <LowPassFilter.h> // LowPassFilter class (inherits from Filter class)
#include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera
#include <memcheck.h>
@ -469,8 +470,6 @@ static float airspeed_pressure;
////////////////////////////////////////////////////////////////////////////////
// Altitude Sensor variables
////////////////////////////////////////////////////////////////////////////////
// Raw absolute pressure measurement (filtered). ADC units
static unsigned long abs_pressure;
// Altitude from the sonar sensor. Meters. Not yet implemented.
static int sonar_alt;

71
ArduPlane/sensors.pde
View File

@ -7,66 +7,23 @@ void ReadSCP1000(void) {}
static void init_barometer(void)
{
int flashcount = 0;
long ground_pressure = 0;
int ground_temperature;
while (ground_pressure == 0 || !barometer.healthy) {
barometer.read(); // Get initial data from absolute pressure sensor
ground_pressure = barometer.get_pressure();
ground_temperature = barometer.get_temperature();
mavlink_delay(20);
//Serial.printf("barometer.Press %ld\n", barometer.get_pressure());
}
for(int i = 0; i < 30; i++){ // We take some readings...
#if HIL_MODE == HIL_MODE_SENSORS
gcs_update(); // look for inbound hil packets
#endif
do {
barometer.read(); // Get pressure sensor
} while (!barometer.healthy);
ground_pressure = (ground_pressure * 9l + barometer.get_pressure()) / 10l;
ground_temperature = (ground_temperature * 9 + barometer.get_temperature()) / 10;
mavlink_delay(20);
if(flashcount == 5) {
digitalWrite(C_LED_PIN, LED_OFF);
digitalWrite(A_LED_PIN, LED_ON);
digitalWrite(B_LED_PIN, LED_OFF);
}
if(flashcount >= 10) {
flashcount = 0;
digitalWrite(C_LED_PIN, LED_ON);
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_ON);
}
flashcount++;
}
g.ground_pressure.set_and_save(ground_pressure);
g.ground_temperature.set_and_save(ground_temperature / 10.0f);
abs_pressure = ground_pressure;
Serial.printf_P(PSTR("abs_pressure %ld\n"), abs_pressure);
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("barometer calibration complete."));
barometer.calibrate(mavlink_delay);
g.ground_pressure.set_and_save(barometer.get_ground_pressure());
g.ground_temperature.set_and_save(barometer.get_ground_temperature() / 10.0f);
ahrs.set_barometer(&barometer);
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}
static long read_barometer(void)
// filter altitude from the barometer with a 0.3 low pass
// filter
static LowPassFilterInt32 altitude_filter(0.3);
// read the barometer and return the updated altitude in centimeters
// above the calibration altitude
static int32_t read_barometer(void)
{
float x, scaling, temp;
barometer.read(); // Get new data from absolute pressure sensor
//abs_pressure = (abs_pressure + barometer.get_pressure()) >> 1; // Small filtering
abs_pressure = ((float)abs_pressure * .7) + ((float)barometer.get_pressure() * .3); // large filtering
scaling = (float)g.ground_pressure / (float)abs_pressure;
temp = ((float)g.ground_temperature) + 273.15f;
x = log(scaling) * temp * 29271.267f;
return (x / 10);
barometer.read();
return altitude_filter.apply(((int32_t)barometer.get_altitude() * 100.0));
}
// in M/S * 100

2
ArduPlane/test.pde
View File

@ -695,7 +695,7 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
} else {
Serial.printf_P(PSTR("Alt: %0.2fm, Raw: %ld Temperature: %.1f\n"),
current_loc.alt / 100.0,
abs_pressure, 0.1*barometer.get_temperature());
barometer.get_pressure(), 0.1*barometer.get_temperature());
}
if(Serial.available() > 0){