mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.3 KiB
C++
82 lines
2.3 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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Accel calibration
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*/
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void Plane::accel_cal_update() {
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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float trim_roll, trim_pitch;
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if(ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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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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}
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/*
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update RPM sensors
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*/
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void Plane::rpm_update(void)
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{
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rpm_sensor.update();
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if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
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if (should_log(MASK_LOG_RC)) {
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logger.Write_RPM(rpm_sensor);
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}
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}
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}
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