ardupilot/AntennaTracker/sensors.cpp

141 lines
3.3 KiB
C++

#include "Tracker.h"
void Tracker::init_barometer(bool full_calibration)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
if (full_calibration) {
barometer.calibrate();
} else {
barometer.update_calibration();
}
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
// read the barometer and return the updated altitude in meters
void Tracker::update_barometer(void)
{
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
}
/*
update INS and attitude
*/
void Tracker::update_ahrs()
{
ahrs.update();
}
/*
read and update compass
*/
void Tracker::update_compass(void)
{
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
compass.learn_offsets();
if (should_log(MASK_LOG_COMPASS)) {
DataFlash.Log_Write_Compass(compass);
}
} else {
ahrs.set_compass(nullptr);
}
}
/*
if the compass is enabled then try to accumulate a reading
*/
void Tracker::compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
}
}
/*
try to accumulate a baro reading
*/
void Tracker::barometer_accumulate(void)
{
barometer.accumulate();
}
/*
calibrate compass
*/
void Tracker::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
/*
Accel calibration
*/
void Tracker::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
float trim_roll, trim_pitch;
if (ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
/*
read the GPS
*/
void Tracker::update_GPS(void)
{
gps.update();
static uint32_t last_gps_msg_ms;
static uint8_t ground_start_count = 5;
if (gps.last_message_time_ms() != last_gps_msg_ms &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0 && current_loc.lng == 0) {
ground_start_count = 5;
} else {
// Now have an initial GPS position
// use it as the HOME position in future startups
current_loc = gps.location();
set_home(current_loc);
// set system clock for log timestamps
uint64_t gps_timestamp = gps.time_epoch_usec();
hal.util->set_system_clock(gps_timestamp);
// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(gps_timestamp);
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
ground_start_count = 0;
}
}
// log GPS data
if (should_log(MASK_LOG_GPS)) {
DataFlash.Log_Write_GPS(gps, 0);
}
}
}