// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // Sensors are not available in HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE static void ReadSCP1000(void) {} #if CONFIG_SONAR == ENABLED static void init_sonar(void) { #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC sonar.calculate_scaler(g.sonar_type, 3.3); #else sonar.calculate_scaler(g.sonar_type, 5.0); #endif } #endif static void init_barometer(void) { barometer.calibrate(mavlink_delay); ahrs.set_barometer(&barometer); gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); } // return barometric altitude in centimeters static int32_t read_barometer(void) { barometer.read(); return baro_filter.apply(barometer.get_altitude() * 100.0); } #endif // HIL_MODE != HIL_MODE_ATTITUDE static void init_compass() { compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft if (!compass.init() || !compass.read()) { // make sure we don't pass a broken compass to DCM Serial.println_P(PSTR("COMPASS INIT ERROR")); return; } ahrs.set_compass(&compass); } static void init_optflow() { #ifdef OPTFLOW_ENABLED if( optflow.init(false) == false ) { g.optflow_enabled = false; SendDebug("\nFailed to Init OptFlow "); } optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view // setup timed read of sensor //timer_scheduler.register_process(&AP_OpticalFlow::read); #endif } static void read_battery(void) { if(g.battery_monitoring == 0){ battery_voltage1 = 0; return; } if(g.battery_monitoring == 3 || g.battery_monitoring == 4) { static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1); battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average()); } if(g.battery_monitoring == 4) { static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1); current_amps1 = CURRENT_AMPS(current_pin.read_average()); current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours) } #if BATTERY_EVENT == ENABLED //if(battery_voltage < g.low_voltage) // low_battery_event(); if((battery_voltage1 < g.low_voltage) || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity)){ low_battery_event(); #if COPTER_LEDS == ENABLED if ( bitRead(g.copter_leds_mode, 3) ){ // Only Activate if a battery is connected to avoid alarm on USB only if (battery_voltage1 > 1){ piezo_on(); }else{ piezo_off(); } } }else if ( bitRead(g.copter_leds_mode, 3) ){ piezo_off(); #endif // COPTER_LEDS } #endif //BATTERY_EVENT } //v: 10.9453, a: 17.4023, mah: 8.2