Plane: use the new airspeed driver interface

the choice of analog source is now in the airspeed driver

ArduPlane/ArduPlane.pde

@@ -142,8 +142,8 @@ static GPS         *g_gps;
 // flight modes convenience array
 static AP_Int8          *flight_modes = &g.flight_mode1;
 
-#if CONFIG_ADC == ENABLED
-static AP_ADC_ADS7844 adc;
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+AP_ADC_ADS7844 apm1_adc;
 #endif
 
 #if CONFIG_BARO == AP_BARO_BMP085
@@ -210,7 +210,7 @@ AP_InertialSensor_PX4 ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_STUB
 AP_InertialSensor_Stub ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
-AP_InertialSensor_Oilpan ins( &adc );
+AP_InertialSensor_Oilpan ins( &apm1_adc );
 #else
   #error Unrecognised CONFIG_INS_TYPE setting.
 #endif // CONFIG_INS_TYPE
@@ -240,8 +240,6 @@ static AP_Navigation *nav_controller = &L1_controller;
 // Analog Inputs
 ////////////////////////////////////////////////////////////////////////////////
 
-static AP_HAL::AnalogSource *pitot_analog_source;
-
 // a pin for reading the receiver RSSI voltage. 
 static AP_HAL::AnalogSource *rssi_analog_source;
 
@@ -661,19 +659,11 @@ void setup() {
 
     rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
 
-#if CONFIG_PITOT_SOURCE == PITOT_SOURCE_ADC
-    pitot_analog_source = new AP_ADC_AnalogSource( &adc,
-                                         CONFIG_PITOT_SOURCE_ADC_CHANNEL, 1.0f);
-#elif CONFIG_PITOT_SOURCE == PITOT_SOURCE_ANALOG_PIN
-    pitot_analog_source = hal.analogin->channel(CONFIG_PITOT_SOURCE_ANALOG_PIN);
-    hal.gpio->write(hal.gpio->analogPinToDigitalPin(CONFIG_PITOT_SOURCE_ANALOG_PIN), 0);
-#endif
     vcc_pin = hal.analogin->channel(ANALOG_INPUT_BOARD_VCC);
 
     batt_volt_pin = hal.analogin->channel(g.battery_volt_pin);
     batt_curr_pin = hal.analogin->channel(g.battery_curr_pin);
     
-    airspeed.init(pitot_analog_source);
     init_ardupilot();
 }
 

ArduPlane/GCS_Mavlink.pde

@@ -1919,6 +1919,7 @@ mission_failed:
 
         barometer.setHIL(packet.alt*0.001f);
         compass.setHIL(packet.roll, packet.pitch, packet.yaw);
+        airspeed.disable();
         break;
     }
 #endif // HIL_MODE

ArduPlane/config.h

@@ -98,8 +98,6 @@
  # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
  # define BATTERY_CURR_PIN      1      // Battery current on A1
  # define CONFIG_INS_TYPE CONFIG_INS_OILPAN
- # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ADC
- # define CONFIG_PITOT_SOURCE_ADC_CHANNEL 7
  # define CONFIG_BARO     AP_BARO_BMP085
  # define CONFIG_COMPASS  AP_COMPASS_HMC5843
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
@@ -116,8 +114,6 @@
  # define BATTERY_VOLT_PIN      1      // Battery voltage on A1
  # define BATTERY_CURR_PIN      2      // Battery current on A2
  # define CONFIG_INS_TYPE CONFIG_INS_MPU6000
- # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
- # define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
  # ifdef APM2_BETA_HARDWARE
  #  define CONFIG_BARO     AP_BARO_BMP085
  # else // APM2 Production Hardware (default)
@@ -134,8 +130,6 @@
  # define BATTERY_VOLT_PIN      1      // Battery voltage on A1
  # define BATTERY_CURR_PIN      2      // Battery current on A2
  # define CONFIG_INS_TYPE CONFIG_INS_STUB
- # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
- # define CONFIG_PITOT_SOURCE_ANALOG_PIN 0
  # define CONFIG_BARO     AP_BARO_HIL
  # define CONFIG_COMPASS  AP_COMPASS_HIL
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
@@ -148,25 +142,12 @@
  # define BATTERY_VOLT_PIN      -1
  # define BATTERY_CURR_PIN      -1
  # define CONFIG_INS_TYPE CONFIG_INS_PX4
- # define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
- # define CONFIG_PITOT_SOURCE_ANALOG_PIN 11
  # define CONFIG_BARO AP_BARO_PX4
  # define CONFIG_COMPASS  AP_COMPASS_PX4
  # define SERIAL0_BAUD 115200
 #endif
 
 
-//////////////////////////////////////////////////////////////////////////////
-// ADC Enable - used to eliminate for systems which don't have ADC.
-//
-#ifndef CONFIG_ADC
- # if CONFIG_INS_TYPE == CONFIG_INS_OILPAN
-  #   define CONFIG_ADC ENABLED
- # else
-  #   define CONFIG_ADC DISABLED
- # endif
-#endif
-
 #ifndef CONFIG_BARO
  # error "CONFIG_BARO not set"
 #endif
@@ -175,10 +156,6 @@
  # error "CONFIG_COMPASS not set"
 #endif
 
-#ifndef CONFIG_PITOT_SOURCE
- # error "CONFIG_PITOT_SOURCE not set"
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // HIL_MODE                                 OPTIONAL
 
@@ -193,12 +170,6 @@
  #define CONFIG_BARO AP_BARO_HIL
  #undef CONFIG_INS_TYPE
  #define CONFIG_INS_TYPE CONFIG_INS_STUB
- #undef CONFIG_ADC
- #define CONFIG_ADC DISABLED
- #undef CONFIG_PITOT_SOURCE
- #define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
- #undef CONFIG_PITOT_SOURCE_ANALOG_PIN
- #define CONFIG_PITOT_SOURCE_ANALOG_PIN -1
  #undef  CONFIG_COMPASS
  #define CONFIG_COMPASS  AP_COMPASS_HIL
 #endif

ArduPlane/system.pde

@@ -156,10 +156,13 @@ static void init_ardupilot()
     }
 #endif
 
- #if CONFIG_ADC == ENABLED
-    adc.Init();      // APM ADC library initialization
+ #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
+    apm1_adc.Init();      // APM ADC library initialization
  #endif
 
+    // initialise airspeed sensor
+    airspeed.init();
+
     if (g.compass_enabled==true) {
         if (!compass.init() || !compass.read()) {
             cliSerial->println_P(PSTR("Compass initialisation failed!"));

ArduPlane/test.pde

@@ -9,7 +9,7 @@ static int8_t   test_radio(uint8_t argc,                const Menu::arg *argv);
 static int8_t   test_passthru(uint8_t argc,     const Menu::arg *argv);
 static int8_t   test_failsafe(uint8_t argc,     const Menu::arg *argv);
 static int8_t   test_gps(uint8_t argc,                  const Menu::arg *argv);
-#if CONFIG_ADC == ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 static int8_t   test_adc(uint8_t argc,                  const Menu::arg *argv);
 #endif
 static int8_t   test_ins(uint8_t argc,                  const Menu::arg *argv);
@@ -47,7 +47,7 @@ static const struct Menu::command test_menu_commands[] PROGMEM = {
     // Tests below here are for hardware sensors only present
     // when real sensors are attached or they are emulated
 #if HIL_MODE == HIL_MODE_DISABLED
- #if CONFIG_ADC == ENABLED
+ #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
     {"adc",                 test_adc},
  #endif
     {"gps",                 test_gps},
@@ -414,18 +414,18 @@ test_shell(uint8_t argc, const Menu::arg *argv)
 //-------------------------------------------------------------------------------------------
 // tests in this section are for real sensors or sensors that have been simulated
 
- #if CONFIG_ADC == ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 static int8_t
 test_adc(uint8_t argc, const Menu::arg *argv)
 {
     print_hit_enter();
-    adc.Init();
+    apm1_adc.Init();
     delay(1000);
     cliSerial->printf_P(PSTR("ADC\n"));
     delay(1000);
 
     while(1) {
-        for (int8_t i=0; i<9; i++) cliSerial->printf_P(PSTR("%.1f\t"),adc.Ch(i));
+        for (int8_t i=0; i<9; i++) cliSerial->printf_P(PSTR("%.1f\t"),apm1_adc.Ch(i));
         cliSerial->println();
         delay(100);
         if(cliSerial->available() > 0) {
@@ -433,7 +433,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
         }
     }
 }
- #endif // CONFIG_ADC
+#endif // CONFIG_HAL_BOARD == HAL_BOARD_APM1
 
 static int8_t
 test_gps(uint8_t argc, const Menu::arg *argv)
@@ -608,15 +608,10 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 static int8_t
 test_airspeed(uint8_t argc, const Menu::arg *argv)
 {
-    float airspeed_ch = pitot_analog_source->voltage_average();
-    // cliSerial->println(pitot_analog_source.read());
-    cliSerial->printf_P(PSTR("airspeed_ch: %.3f\n"), airspeed_ch);
-
     if (!airspeed.enabled()) {
         cliSerial->printf_P(PSTR("airspeed: "));
         print_enabled(false);
         return (0);
-
     }else{
         print_hit_enter();
         zero_airspeed();