void ReadSCP1000(void) {} void init_pressure_ground(void) { for(int i = 0; i < 300; i++){ // We take some readings... delay(20); APM_BMP085.Read(); // Get initial data from absolute pressure sensor abs_pressure_ground = (abs_pressure_ground * 9l + APM_BMP085.Press) / 10l; ground_temperature = (ground_temperature * 9 + APM_BMP085.Temp) / 10; } abs_pressure = APM_BMP085.Press; } void read_barometer(void){ float x, scaling, temp; APM_BMP085.Read(); // Get new data from absolute pressure sensor //abs_pressure = (abs_pressure + APM_BMP085.Press) >> 1; // Small filtering abs_pressure = ((float)abs_pressure * .7) + ((float)APM_BMP085.Press * .3); // large filtering scaling = (float)abs_pressure_ground / (float)abs_pressure; temp = ((float)ground_temperature / 10.f) + 273.15; x = log(scaling) * temp * 29271.267f; current_loc.alt = (long)(x / 10) + home.alt;// + baro_offset; // Pressure altitude in centimeters } // in M/S * 100 void read_airspeed(void) { } #if BATTERY_EVENT == 1 void read_battery(void) { battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9; battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9; battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9; battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9; #if BATTERY_TYPE == 0 if(battery_voltage3 < LOW_VOLTAGE) low_battery_event(); battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream #endif #if BATTERY_TYPE == 1 if(battery_voltage4 < LOW_VOLTAGE) low_battery_event(); battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream #endif } #endif void read_current(void) { current_voltage = CURRENT_VOLTAGE(analogRead(VOLTAGE_PIN_0)) * .1 + current_voltage * .9; //reads power sensor voltage pin current_amps = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps * .9; //reads power sensor current pin current_total += (current_amps * 0.27777) / delta_ms_medium_loop; } //v: 10.9453, a: 17.4023, mah: 8.2