mirror of https://github.com/ArduPilot/ardupilot
100 lines
2.4 KiB
C++
100 lines
2.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Plane.h"
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void Plane::init_barometer(void)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
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barometer.calibrate();
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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void Plane::init_rangefinder(void)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.init();
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#endif
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}
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/*
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read the rangefinder and update height estimate
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*/
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void Plane::read_rangefinder(void)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.update();
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if (should_log(MASK_LOG_SONAR))
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Log_Write_Sonar();
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rangefinder_height_update();
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#endif
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}
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/*
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ask airspeed sensor for a new value
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*/
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void Plane::read_airspeed(void)
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{
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if (airspeed.enabled()) {
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airspeed.read();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Airspeed();
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}
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calc_airspeed_errors();
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// supply a new temperature to the barometer from the digital
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// airspeed sensor if we can
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float temperature;
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if (airspeed.get_temperature(temperature)) {
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barometer.set_external_temperature(temperature);
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}
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}
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// update smoothed airspeed estimate
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float aspeed;
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if (ahrs.airspeed_estimate(&aspeed)) {
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smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
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}
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}
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void Plane::zero_airspeed(bool in_startup)
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{
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airspeed.calibrate(in_startup);
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read_airspeed();
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// update barometric calibration with new airspeed supplied temperature
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barometer.update_calibration();
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gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
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}
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// read_battery - reads battery voltage and current and invokes failsafe
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// should be called at 10hz
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void Plane::read_battery(void)
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{
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battery.read();
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compass.set_current(battery.current_amps());
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if (!usb_connected &&
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hal.util->get_soft_armed() &&
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battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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low_battery_event();
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}
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}
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// read the receiver RSSI as an 8 bit number for MAVLink
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// RC_CHANNELS_SCALED message
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void Plane::read_receiver_rssi(void)
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{
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// avoid divide by zero
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if (g.rssi_range <= 0) {
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receiver_rssi = 0;
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}else{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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}
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