mirror of https://github.com/ArduPilot/ardupilot
98 lines
3.9 KiB
C++
98 lines
3.9 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "AP_TemperatureSensor_config.h"
|
|
|
|
#if AP_TEMPERATURE_SENSOR_ANALOG_ENABLED
|
|
|
|
#include "AP_TemperatureSensor_Analog.h"
|
|
|
|
|
|
extern const AP_HAL::HAL &hal;
|
|
|
|
const AP_Param::GroupInfo AP_TemperatureSensor_Analog::var_info[] = {
|
|
|
|
// @Param: PIN
|
|
// @DisplayName: Temperature sensor analog voltage sensing pin
|
|
// @Description: Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
|
|
// @Values: -1:Disabled, 2:Pixhawk/Pixracer/Navio2/Pixhawk2_PM1, 5:Navigator, 13:Pixhawk2_PM2/CubeOrange_PM2, 14:CubeOrange, 16:Durandal, 100:PX4-v1
|
|
// @User: Standard
|
|
AP_GROUPINFO("PIN", 1, AP_TemperatureSensor_Analog, _pin, -1),
|
|
|
|
// @Param: A0
|
|
// @DisplayName: Temperature sensor analog 0th polynomial coefficient
|
|
// @Description: a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4
|
|
AP_GROUPINFO("A0", 2, AP_TemperatureSensor_Analog, _a[0], 0),
|
|
|
|
// @Param: A1
|
|
// @DisplayName: Temperature sensor analog 1st polynomial coefficient
|
|
// @Description: a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4
|
|
AP_GROUPINFO("A1", 3, AP_TemperatureSensor_Analog, _a[1], 0),
|
|
|
|
// @Param: A2
|
|
// @DisplayName: Temperature sensor analog 2nd polynomial coefficient
|
|
// @Description: a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4
|
|
AP_GROUPINFO("A2", 4, AP_TemperatureSensor_Analog, _a[2], 0),
|
|
|
|
// @Param: A3
|
|
// @DisplayName: Temperature sensor analog 3rd polynomial coefficient
|
|
// @Description: a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4
|
|
AP_GROUPINFO("A3", 5, AP_TemperatureSensor_Analog, _a[3], 0),
|
|
|
|
// @Param: A4
|
|
// @DisplayName: Temperature sensor analog 4th polynomial coefficient
|
|
// @Description: a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4
|
|
AP_GROUPINFO("A4", 6, AP_TemperatureSensor_Analog, _a[4], 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
AP_TemperatureSensor_Analog::AP_TemperatureSensor_Analog(AP_TemperatureSensor &front,
|
|
AP_TemperatureSensor::TemperatureSensor_State &state,
|
|
AP_TemperatureSensor_Params ¶ms) :
|
|
AP_TemperatureSensor_Backend(front, state, params)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
_state.var_info = var_info;
|
|
_analog_source = hal.analogin->channel(_pin);
|
|
}
|
|
|
|
// Update function called at 5Hz
|
|
void AP_TemperatureSensor_Analog::update()
|
|
{
|
|
if ((_analog_source == nullptr) || !_analog_source->set_pin(_pin)) {
|
|
// Invalid pln
|
|
return;
|
|
}
|
|
|
|
// Use ratiometric voltage, measured voltage is relative to supply
|
|
const float voltage = _analog_source->voltage_average_ratiometric();
|
|
|
|
// Evaluate polynomial
|
|
// temperature (deg) = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4
|
|
float temp = 0.0;
|
|
float poly = 1.0;
|
|
for (uint8_t i = 0; i < ARRAY_SIZE(_a); i++) {
|
|
temp += _a[i] * poly;
|
|
poly *= voltage;
|
|
}
|
|
|
|
// update state
|
|
set_temperature(temp);
|
|
}
|
|
|
|
#endif // AP_TEMPERATURE_SENSOR_ANALOG_ENABLED
|
|
|