mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.8 KiB
Plaintext
101 lines
2.8 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// filter altitude from the barometer with a low pass filter
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static LowPassFilterInt32 altitude_filter;
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static void init_barometer(void)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
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barometer.calibrate();
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// filter at 100ms sampling, with 0.7Hz cutoff frequency
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altitude_filter.set_cutoff_frequency(0.1, 0.7);
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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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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/*
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ask airspeed sensor for a new value
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*/
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static void read_airspeed(void)
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{
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if (airspeed.enabled()) {
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airspeed.read();
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calc_airspeed_errors();
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}
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}
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static void zero_airspeed(void)
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{
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airspeed.calibrate();
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gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
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}
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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.voltage = 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.voltage = BATTERY_VOLTAGE(batt_volt_pin);
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}
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if (g.battery_monitoring == 4) {
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uint32_t tnow = hal.scheduler->millis();
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float dt = tnow - battery.last_time_ms;
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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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battery.current_amps = CURRENT_AMPS(batt_curr_pin);
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if (battery.last_time_ms != 0 && dt < 2000) {
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// .0002778 is 1/3600 (conversion to hours)
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battery.current_total_mah += battery.current_amps * dt * 0.0002778f;
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}
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battery.last_time_ms = tnow;
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}
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if (battery.voltage != 0 &&
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g.fs_batt_voltage > 0 &&
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battery.voltage < g.fs_batt_voltage) {
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low_battery_event();
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}
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if (g.battery_monitoring == 4 &&
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g.fs_batt_mah > 0 &&
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g.pack_capacity - battery.current_total_mah < g.fs_batt_mah) {
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low_battery_event();
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}
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}
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// read the receiver RSSI as an 8 bit number for MAVLink
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// RC_CHANNELS_SCALED message
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void read_receiver_rssi(void)
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{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 50;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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/*
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return current_loc.alt adjusted for ALT_OFFSET
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This is useful during long flights to account for barometer changes
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from the GCS, or to adjust the flying height of a long mission
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*/
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static int32_t adjusted_altitude_cm(void)
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{
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return current_loc.alt - (g.alt_offset*100);
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}
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