mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.8 KiB
Plaintext
56 lines
1.8 KiB
Plaintext
void ReadSCP1000(void) {}
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void init_pressure_ground(void)
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{
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for(int i = 0; i < 300; i++){ // We take some readings...
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delay(20);
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APM_BMP085.Read(); // Get initial data from absolute pressure sensor
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abs_pressure_ground = (abs_pressure_ground * 9l + APM_BMP085.Press) / 10l;
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ground_temperature = (ground_temperature * 9 + APM_BMP085.Temp) / 10;
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}
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abs_pressure = APM_BMP085.Press;
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}
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void read_barometer(void){
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float x, scaling, temp;
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APM_BMP085.Read(); // Get new data from absolute pressure sensor
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//abs_pressure = (abs_pressure + APM_BMP085.Press) >> 1; // Small filtering
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abs_pressure = ((float)abs_pressure * .9) + ((float)APM_BMP085.Press * .1); // large filtering
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scaling = (float)abs_pressure_ground / (float)abs_pressure;
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temp = ((float)ground_temperature / 10.f) + 273.15;
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x = log(scaling) * temp * 29271.267f;
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current_loc.alt = (long)(x / 10) + home.alt + baro_offset; // Pressure altitude in centimeters
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}
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// in M/S * 100
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void read_airspeed(void)
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{
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}
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#if BATTERY_EVENT == 1
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void read_battery(void)
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{
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battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9;
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battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
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battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
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battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
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#if BATTERY_TYPE == 0
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if(battery_voltage3 < LOW_VOLTAGE)
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low_battery_event();
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battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
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#endif
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#if BATTERY_TYPE == 1
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if(battery_voltage4 < LOW_VOLTAGE)
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low_battery_event();
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battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream
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#endif
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}
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#endif
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