mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.3 KiB
Plaintext
73 lines
2.3 KiB
Plaintext
/*
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ArduCopter v1.3 - August 2010
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www.ArduCopter.com
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Copyright (c) 2010. All rights reserved.
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An Open Source Arduino based multicopter.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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void ReadSCP1000(void) {
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}
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#ifdef UseBMP
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void read_airpressure(void){
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double x;
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APM_BMP085.Read(); //Get new data from absolute pressure sensor
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abs_press = APM_BMP085.Press;
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abs_press_filt = (abs_press); // + 2l * abs_press_filt) / 3l; //Light filtering
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//temperature = (temperature * 9 + temp_unfilt) / 10; We will just use the ground temp for the altitude calculation
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double p = (double)abs_press_gnd / (double)abs_press_filt;
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double temp = (float)ground_temperature / 10.f + 273.15f;
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x = log(p) * temp * 29271.267f;
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//x = log(p) * temp * 29.271267 * 1000;
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press_alt = (int)(x / 10) + ground_alt; // Pressure altitude in centimeters
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// Need to add comments for theory.....
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}
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#endif
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#ifdef UseAirspeed
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void read_airspeed(void) {
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#if GCS_PROTOCOL != 3 // Xplane will supply the airspeed
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airpressure_raw = ((float)analogRead(AIRSPEED_PIN) * .25) + (airpressure_raw * .75);
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airpressure = (int)airpressure_raw - airpressure_offset;
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airspeed = sqrt((float)airpressure / AIRSPEED_RATIO);
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#endif
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airspeed_error = airspeed_cruise - airspeed;
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}
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#endif
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#if BATTERY_EVENT == 1
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void read_battery(void)
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{
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battery_voltage = BATTERY_VOLTAGE(analogRead(BATTERY_PIN)) * .1 + battery_voltage * .9;
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if(battery_voltage < LOW_VOLTAGE)
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low_battery_event();
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}
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#endif
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#ifdef UseAirspeed
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void zero_airspeed(void)
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{
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airpressure_raw = analogRead(AIRSPEED_PIN);
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for(int c=0; c < 80; c++){
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airpressure_raw = (airpressure_raw * .90) + ((float)analogRead(AIRSPEED_PIN) * .10);
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}
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airpressure_offset = airpressure_raw;
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}
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#endif
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