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https://github.com/ArduPilot/ardupilot
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40f1d184a1
git-svn-id: https://arducopter.googlecode.com/svn/trunk@961 f9c3cf11-9bcb-44bc-f272-b75c42450872
57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
#include "AP_ADC_HIL.h"
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#include "WProgram.h"
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/*
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AP_ADC_HIL.cpp
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Author: James Goppert
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License:
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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const uint8_t AP_ADC_HIL::sensors[6] = {1,2,0,4,5,6};
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const int8_t AP_ADC_HIL::sensorSign[6] = { 1, -1, -1,-1, 1, 1};
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const float AP_ADC_HIL::gyroBias[3] = {1665,1665,1665};
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const float AP_ADC_HIL::accelBias[3] = {2025,2025,2025};
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// gyroScale = 1/[GyroGain*pi/180] GyroGains (0.4,0.41,0.41)
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const float AP_ADC_HIL::gyroScale[3] = {142.239, 139.746, 139.746};
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const float AP_ADC_HIL::accelScale[3] = {418,418,418}; // adcPerG
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AP_ADC_HIL::AP_ADC_HIL() : adcValue()
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{
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}
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void AP_ADC_HIL::Init(void)
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{
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}
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// Read one channel value
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int AP_ADC_HIL::Ch(unsigned char ch_num)
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{
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return adcValue[ch_num];
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}
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// Set one channel value
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int AP_ADC_HIL::setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp,
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int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress)
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{
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// gyros
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setGyro(0,p);
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setGyro(1,q);
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setGyro(2,r);
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// temp
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setGyroTemp(gyroTemp);
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// accel
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setAccel(0,aX);
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setAccel(0,aY);
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setAccel(0,aZ);
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// differential pressure
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setPressure(diffPress);
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}
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