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AP_Baro: allow selection of primary barometer and add 3rd baro

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this is useful for external I2C barometers on a PH2
This commit is contained in:
Andrew Tridgell 2015-09-10 20:24:59 +10:00
parent 61441ab35d
commit a5462fec0b
3 changed files with 23 additions and 11 deletions
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28
libraries/AP_Baro/AP_Baro.cpp
View File

@ -55,6 +55,12 @@ const AP_Param::GroupInfo AP_Baro::var_info[] PROGMEM = {
// @Increment: 0.1
AP_GROUPINFO("ALT_OFFSET", 5, AP_Baro, _alt_offset, 0),
// @Param: PRIMARY
// @DisplayName: Primary barometer
// @Description: This selects which barometer will be the primary if multiple barometers are found
// @Values: 0:FirstBaro,1:2ndBaro,2:3rdBaro
AP_GROUPINFO("PRIMARY", 6, AP_Baro, _primary_baro, 0),
AP_GROUPEND
};
@ -342,19 +348,23 @@ void AP_Baro::update(void)
}
}
// choose primary sensor
_primary = 0;
for (uint8_t i=0; i<_num_sensors; i++) {
if (healthy(i)) {
_primary = i;
break;
}
}
// ensure the climb rate filter is updated
if (healthy()) {
_climb_rate_filter.update(get_altitude(), get_last_update());
}
// choose primary sensor
if (_primary_baro >= 0 && _primary_baro < _num_sensors && healthy(_primary_baro)) {
_primary = _primary_baro;
} else {
_primary = 0;
for (uint8_t i=0; i<_num_sensors; i++) {
if (healthy(i)) {
_primary = i;
break;
}
}
}
}
/*

3
libraries/AP_Baro/AP_Baro.h
View File

@ -12,7 +12,7 @@
#if HAL_CPU_CLASS == HAL_CPU_CLASS_16
#define BARO_MAX_INSTANCES 1
#else
#define BARO_MAX_INSTANCES 2
#define BARO_MAX_INSTANCES 3
#endif
// maximum number of drivers. Note that a single driver can provide
@ -151,6 +151,7 @@ private:
} sensors[BARO_MAX_INSTANCES];
AP_Float _alt_offset;
AP_Int8 _primary_baro; // primary chosen by user
float _last_altitude_EAS2TAS;
float _EAS2TAS;
float _external_temperature;

3
libraries/AP_Baro/AP_Baro_PX4.cpp
View File

@ -26,8 +26,9 @@ AP_Baro_PX4::AP_Baro_PX4(AP_Baro &baro) :
memset(instances, 0, sizeof(instances));
instances[0].fd = open(BARO_BASE_DEVICE_PATH"0", O_RDONLY);
instances[1].fd = open(BARO_BASE_DEVICE_PATH"1", O_RDONLY);
instances[2].fd = open(BARO_BASE_DEVICE_PATH"2", O_RDONLY);
for (uint8_t i=0; i<2; i++) {
for (uint8_t i=0; i<3; i++) {
if (instances[i].fd != -1) {
_num_instances = i+1;
} else {