ardupilot/ArduPlane/sensors.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// filter altitude from the barometer with a low pass filter
static LowPassFilterInt32 altitude_filter;
static void init_barometer(void)
{
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
barometer.calibrate(mavlink_delay);
// filter at 100ms sampling, with 0.7Hz cutoff frequency
altitude_filter.set_cutoff_frequency(0.1, 0.7);
ahrs.set_barometer(&barometer);
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}
// read the barometer and return the updated altitude in centimeters
// above the calibration altitude
static int32_t read_barometer(void)
{
barometer.read();
return altitude_filter.apply(barometer.get_altitude() * 100.0);
}
// in M/S * 100
static void read_airspeed(void)
{
airspeed.read();
calc_airspeed_errors();
}
static void zero_airspeed(void)
{
airspeed.calibrate(mavlink_delay);
gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
}
static void read_battery(void)
{
if(g.battery_monitoring == 0) {
battery_voltage1 = 0;
return;
}
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino batt_volt_pin(g.battery_volt_pin);
// this copes with changing the pin at runtime
batt_volt_pin.set_pin(g.battery_volt_pin);
battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin.read_average());
}
if(g.battery_monitoring == 4) {
static AP_AnalogSource_Arduino batt_curr_pin(g.battery_curr_pin);
// this copes with changing the pin at runtime
batt_curr_pin.set_pin(g.battery_curr_pin);
current_amps1 = CURRENT_AMPS(batt_curr_pin.read_average());
current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
}
#if BATTERY_EVENT == ENABLED
if(battery_voltage1 < LOW_VOLTAGE) low_battery_event();
if(g.battery_monitoring == 4 && current_total1 > g.pack_capacity) low_battery_event();
#endif
}
// read the receiver RSSI as an 8 bit number for MAVLink
// RC_CHANNELS_SCALED message
void read_receiver_rssi(void)
{
RSSI_pin.set_pin(g.rssi_pin);
float ret = RSSI_pin.read();
receiver_rssi = constrain(ret, 0, 255);
}
/*
return current_loc.alt adjusted for ALT_OFFSET
This is useful during long flights to account for barometer changes
from the GCS, or to adjust the flying height of a long mission
*/
static int32_t adjusted_altitude_cm(void)
{
return current_loc.alt - (g.alt_offset*100);
}