mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.7 KiB
Plaintext
76 lines
1.7 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
static void init_barometer(void)
|
|
{
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
|
|
barometer.calibrate();
|
|
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
|
|
}
|
|
|
|
static void init_rangefinder(void)
|
|
{
|
|
rangefinder.init();
|
|
}
|
|
|
|
/*
|
|
read the rangefinder and update height estimate
|
|
*/
|
|
static void read_rangefinder(void)
|
|
{
|
|
rangefinder.update();
|
|
|
|
if (should_log(MASK_LOG_SONAR))
|
|
Log_Write_Sonar();
|
|
|
|
rangefinder_height_update();
|
|
}
|
|
|
|
/*
|
|
ask airspeed sensor for a new value
|
|
*/
|
|
static void read_airspeed(void)
|
|
{
|
|
if (airspeed.enabled()) {
|
|
airspeed.read();
|
|
if (should_log(MASK_LOG_IMU)) {
|
|
Log_Write_Airspeed();
|
|
}
|
|
calc_airspeed_errors();
|
|
}
|
|
}
|
|
|
|
static void zero_airspeed(void)
|
|
{
|
|
airspeed.calibrate();
|
|
gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
|
|
}
|
|
|
|
// read_battery - reads battery voltage and current and invokes failsafe
|
|
// should be called at 10hz
|
|
static void read_battery(void)
|
|
{
|
|
battery.read();
|
|
compass.set_current(battery.current_amps());
|
|
|
|
if (!usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
|
|
low_battery_event();
|
|
}
|
|
}
|
|
|
|
|
|
// read the receiver RSSI as an 8 bit number for MAVLink
|
|
// RC_CHANNELS_SCALED message
|
|
void read_receiver_rssi(void)
|
|
{
|
|
// avoid divide by zero
|
|
if (g.rssi_range <= 0) {
|
|
receiver_rssi = 0;
|
|
}else{
|
|
rssi_analog_source->set_pin(g.rssi_pin);
|
|
float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
|
|
receiver_rssi = constrain_int16(ret, 0, 255);
|
|
}
|
|
}
|
|
|