mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
291369db7f
this gives us separate backends for PX4, analog and I2C. This allows the MS airspeed sensor to work on Linux, and it should work on APM2 as well.
60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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/*
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* analog airspeed driver
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*/
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include <AP_Common.h>
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#include <AP_ADC.h>
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#include <AP_ADC_AnalogSource.h>
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#include <AP_Airspeed.h>
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extern const AP_HAL::HAL& hal;
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// scaling for 3DR analog airspeed sensor
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#define VOLTS_TO_PASCAL 819
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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extern AP_ADC_ADS7844 apm1_adc;
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#endif
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bool AP_Airspeed_Analog::init()
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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if (_pin == 64) {
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_source = new AP_ADC_AnalogSource( &apm1_adc, 7, 1.0f);
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return true;
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}
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#endif
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_source = hal.analogin->channel(_pin);
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return true;
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}
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// read the airspeed sensor
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bool AP_Airspeed_Analog::get_differential_pressure(float &pressure)
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{
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if (_source == NULL) {
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return false;
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}
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_source->set_pin(_pin);
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pressure = _source->voltage_average_ratiometric() * VOLTS_TO_PASCAL;
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return true;
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}
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