mirror of https://github.com/ArduPilot/ardupilot
61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
#include "Plane.h"
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#include <AP_RSSI/AP_RSSI.h>
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#include <AP_OpticalFlow/AP_OpticalFlow.h>
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/*
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read the rangefinder and update height estimate
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*/
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void Plane::read_rangefinder(void)
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{
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// notify the rangefinder of our approximate altitude above ground to allow it to power on
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// during low-altitude flight when configured to power down during higher-altitude flight
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float height;
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#if AP_TERRAIN_AVAILABLE
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if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
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rangefinder.set_estimated_terrain_height(height);
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} else
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#endif
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{
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// use the best available alt estimate via baro above home
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if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
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// ensure the rangefinder is powered-on when land alt is higher than home altitude.
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// This is done using the target alt which we know is below us and we are sinking to it
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height = height_above_target();
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} else {
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// otherwise just use the best available baro estimate above home.
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height = relative_altitude;
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}
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rangefinder.set_estimated_terrain_height(height);
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}
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rangefinder.update();
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rangefinder_height_update();
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}
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/*
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ask airspeed sensor for a new value
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*/
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void Plane::read_airspeed(void)
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{
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airspeed.update(should_log(MASK_LOG_IMU));
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// we calculate airspeed errors (and thus target_airspeed_cm) even
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// when airspeed is disabled as TECS may be using synthetic
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// airspeed for a quadplane transition
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calc_airspeed_errors();
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// update smoothed airspeed estimate
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float aspeed;
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if (ahrs.airspeed_estimate(aspeed)) {
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smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
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}
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// low pass filter speed scaler, with 1Hz cutoff, at 10Hz
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const float speed_scaler = calc_speed_scaler();
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const float cutoff_Hz = 2.0;
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const float dt = 0.1;
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surface_speed_scaler += calc_lowpass_alpha_dt(dt, cutoff_Hz) * (speed_scaler - surface_speed_scaler);
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}
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