mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.0 KiB
Plaintext
113 lines
3.0 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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static void init_barometer(void)
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{
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#if HIL_MODE == HIL_MODE_SENSORS
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hil.update(); // look for inbound hil packets for initialization
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#endif
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// We take some readings...
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for(int i = 0; i < 200; i++){
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delay(25);
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#if HIL_MODE == HIL_MODE_SENSORS
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hil.update(); // look for inbound hil packets
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#endif
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// Get initial data from absolute pressure sensor
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ground_pressure = read_baro_filtered();
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ground_temperature = (ground_temperature * 9 + barometer.Temp) / 10;
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}
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abs_pressure = ground_pressure;
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ground_temperature = barometer.Temp;
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//Serial.printf("abs_pressure %ld\n", ground_temperature);
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//SendDebugln("barometer calibration complete.");
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}
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static long read_baro_filtered(void)
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{
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long pressure = 0;
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// get new data from absolute pressure sensor
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barometer.Read();
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// add new data into our filter
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baro_filter[baro_filter_index] = barometer.Press;
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baro_filter_index++;
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// loop our filter
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if(baro_filter_index == BARO_FILTER_SIZE)
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baro_filter_index = 0;
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// zero out our accumulator
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// sum our filter
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for(byte i = 0; i < BARO_FILTER_SIZE; i++){
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pressure += baro_filter[i];
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}
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// average our sampels
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return pressure /= BARO_FILTER_SIZE;
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}
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static long read_barometer(void)
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{
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float x, scaling, temp;
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abs_pressure = read_baro_filtered();
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//Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure);
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scaling = (float)ground_pressure / (float)abs_pressure;
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temp = ((float)ground_temperature / 10.0f) + 273.15f;
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x = log(scaling) * temp * 29271.267f;
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return (x / 10);
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}
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// in M/S * 100
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static void read_airspeed(void)
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{
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}
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static void zero_airspeed(void)
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{
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}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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static 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(g.battery_monitoring == 1)
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battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
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if(g.battery_monitoring == 2)
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battery_voltage = battery_voltage4;
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
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battery_voltage = battery_voltage1;
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if(g.battery_monitoring == 4) {
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current_amps = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps * .9; //reads power sensor current pin
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current_total += current_amps * (float)delta_ms_medium_loop * 0.000278;
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}
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#if BATTERY_EVENT == 1
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if(battery_voltage < LOW_VOLTAGE) low_battery_event();
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if(g.battery_monitoring == 4 && current_total > g.pack_capacity) low_battery_event();
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#endif
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}
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//v: 10.9453, a: 17.4023, mah: 8.2
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