mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.4 KiB
Plaintext
49 lines
1.4 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CONFIG_SONAR == ENABLED
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static void init_sonar(void)
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{
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/*
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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sonar.calculate_scaler(g.sonar_type, 3.3);
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#else
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sonar.calculate_scaler(g.sonar_type, 5.0);
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#endif
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*/
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}
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#endif
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#if LITE == DISABLED
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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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void ReadSCP1000(void) {}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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#endif
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static void read_battery(void)
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{
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if(g.battery_monitoring == 0) {
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battery_voltage1 = 0;
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return;
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}
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
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// this copes with changing the pin at runtime
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batt_volt_pin->set_pin(g.battery_volt_pin);
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battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin->read_average());
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}
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if(g.battery_monitoring == 4) {
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// this copes with changing the pin at runtime
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batt_curr_pin->set_pin(g.battery_curr_pin);
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current_amps1 = CURRENT_AMPS(batt_curr_pin->read_average());
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current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
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}
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#if BATTERY_EVENT == ENABLED
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if(battery_voltage1 < LOW_VOLTAGE) low_battery_event();
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if(g.battery_monitoring == 4 && current_total1 > g.pack_capacity) low_battery_event();
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#endif
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}
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