mirror of https://github.com/ArduPilot/ardupilot
65 lines
1.7 KiB
Plaintext
65 lines
1.7 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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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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static void init_barometer(void)
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{
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barometer.calibrate(mavlink_delay);
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ahrs.set_barometer(&barometer);
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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// filter altitude from the barometer with a 0.3 low pass
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// filter
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static LowPassFilterInt32 altitude_filter(0.3);
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// read the barometer and return the updated altitude in centimeters
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// above the calibration altitude
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static int32_t read_barometer(void)
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{
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barometer.read();
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return altitude_filter.apply(barometer.get_altitude() * 100.0);
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}
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// in M/S * 100
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static void read_airspeed(void)
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{
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airspeed.read();
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calc_airspeed_errors();
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}
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static void zero_airspeed(void)
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{
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airspeed.calibrate(mavlink_delay);
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gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
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}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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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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static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1);
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battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average());
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}
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if(g.battery_monitoring == 4) {
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static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1);
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current_amps1 = CURRENT_AMPS(current_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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