mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.8 KiB
Plaintext
131 lines
3.8 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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#if CONFIG_SONAR == ENABLED
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static void init_sonar(void)
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{
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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sonar->calculate_scaler(g.sonar_type, 3.3f);
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#else
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sonar->calculate_scaler(g.sonar_type, 5.0f);
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#endif
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}
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#endif
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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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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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// return barometric altitude in centimeters
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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 barometer.get_altitude() * 100.0f;
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}
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// return sonar altitude in centimeters
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static int16_t read_sonar(void)
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{
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#if CONFIG_SONAR == ENABLED
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// exit immediately if sonar is disabled
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if( !g.sonar_enabled ) {
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sonar_alt_health = 0;
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return 0;
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}
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int16_t temp_alt = sonar->read();
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if (temp_alt >= sonar->min_distance && temp_alt <= sonar->max_distance * SONAR_RELIABLE_DISTANCE_PCT) {
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if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
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sonar_alt_health++;
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}
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}else{
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sonar_alt_health = 0;
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}
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#if SONAR_TILT_CORRECTION == 1
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// correct alt for angle of the sonar
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float temp = cos_pitch_x * cos_roll_x;
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temp = max(temp, 0.707f);
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temp_alt = (float)temp_alt * temp;
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#endif
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return temp_alt;
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#else
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return 0;
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#endif
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}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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static void init_compass()
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{
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if (!compass.init() || !compass.read()) {
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// make sure we don't pass a broken compass to DCM
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cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
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return;
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}
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ahrs.set_compass(&compass);
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}
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static void init_optflow()
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{
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#if OPTFLOW == ENABLED
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if( optflow.init() == false ) {
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g.optflow_enabled = false;
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cliSerial->print_P(PSTR("\nFailed to Init OptFlow "));
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Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE);
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}else{
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// suspend timer while we set-up SPI communication
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hal.scheduler->suspend_timer_procs();
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optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
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optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
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optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
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optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
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// resume timer
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hal.scheduler->resume_timer_procs();
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}
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#endif // OPTFLOW == ENABLED
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}
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// read_battery - check battery voltage and current and invoke failsafe if necessary
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// called at 10hz
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static void read_battery(void)
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{
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battery.read();
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// update compass with current value
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if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) {
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compass.set_current(battery.current_amps());
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}
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// check for low voltage or current if the low voltage check hasn't already been triggered
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// we only check when we're not powered by USB to avoid false alarms during bench tests
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if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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failsafe_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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// avoid divide by zero
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if (g.rssi_range <= 0) {
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receiver_rssi = 0;
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}else{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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}
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