mirror of https://github.com/ArduPilot/ardupilot
114 lines
3.5 KiB
Plaintext
114 lines
3.5 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Sensors are not available in HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static void ReadSCP1000(void) {
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}
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#if CONFIG_SONAR == ENABLED
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static void init_sonar(void)
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{
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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sonar.calculate_scaler(g.sonar_type, 3.3);
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#else
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sonar.calculate_scaler(g.sonar_type, 5.0);
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#endif
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}
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#endif
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static void init_barometer(void)
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{
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barometer.calibrate(mavlink_delay);
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ahrs.set_barometer(&barometer);
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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// return barometric altitude in centimeters
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static int32_t read_barometer(void)
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{
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barometer.read();
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return baro_filter.apply(barometer.get_altitude() * 100.0);
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}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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static void init_compass()
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{
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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if (!compass.init() || !compass.read()) {
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// make sure we don't pass a broken compass to DCM
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Serial.println_P(PSTR("COMPASS INIT ERROR"));
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return;
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}
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ahrs.set_compass(&compass);
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#if SECONDARY_DMP_ENABLED == ENABLED
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ahrs2.set_compass(&compass);
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#endif
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}
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static void init_optflow()
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{
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#ifdef OPTFLOW_ENABLED
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if( optflow.init(false, &timer_scheduler) == false ) {
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g.optflow_enabled = false;
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SendDebug("\nFailed to Init OptFlow ");
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}
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// suspend timer while we set-up SPI communication
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timer_scheduler.suspend_timer();
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optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
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optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
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optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
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optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
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// resume timer
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timer_scheduler.resume_timer();
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#endif
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}
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static void read_battery(void)
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{
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if(g.battery_monitoring == 0) {
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battery_voltage1 = 0;
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return;
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}
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
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static AP_AnalogSource_Arduino bat_pin(g.battery_pin);
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battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
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}
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if(g.battery_monitoring == 4) {
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static AP_AnalogSource_Arduino current_pin(g.battery_pin+1); // current is always read from one pin higher than battery voltage
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current_amps1 = CURRENT_AMPS(current_pin.read_average());
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current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours)
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}
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#if BATTERY_EVENT == ENABLED
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//if(battery_voltage < g.low_voltage)
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// low_battery_event();
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if((battery_voltage1 < g.low_voltage) || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity)) {
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low_battery_event();
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#if COPTER_LEDS == ENABLED
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if ( bitRead(g.copter_leds_mode, 3) ) { // Only Activate if a battery is connected to avoid alarm on USB only
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if (battery_voltage1 > 1) {
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piezo_on();
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}else{
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piezo_off();
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}
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}
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}else if ( bitRead(g.copter_leds_mode, 3) ) {
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piezo_off();
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#endif // COPTER_LEDS
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}
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#endif //BATTERY_EVENT
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}
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//v: 10.9453, a: 17.4023, mah: 8.2
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