mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
/*
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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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#include "AP_WindVane_config.h"
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#if AP_WINDVANE_ANALOG_ENABLED
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#include "AP_WindVane_Analog.h"
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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#define WINDVANE_CALIBRATION_VOLT_DIFF_MIN 1.0f // calibration routine's min voltage difference required for success
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_WindVane_Analog::AP_WindVane_Analog(AP_WindVane &frontend) :
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AP_WindVane_Backend(frontend)
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{
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_dir_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
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}
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void AP_WindVane_Analog::update_direction()
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{
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if (!_dir_analog_source->set_pin(_frontend._dir_analog_pin)) {
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// pin invalid, don't have health monitoring to report yet
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return;
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}
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_current_analog_voltage = _dir_analog_source->voltage_latest();
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const float voltage_ratio = linear_interpolate(0.0f, 1.0f, _current_analog_voltage, _frontend._dir_analog_volt_min, _frontend._dir_analog_volt_max);
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const float direction = (voltage_ratio * radians(360 - _frontend._dir_analog_deadzone)) + radians(_frontend._dir_analog_bearing_offset);
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_frontend._direction_apparent_raw = wrap_PI(direction);
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}
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void AP_WindVane_Analog::calibrate()
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{
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// start calibration
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if (_cal_start_ms == 0) {
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_cal_start_ms = AP_HAL::millis();
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_cal_volt_max = _current_analog_voltage;
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_cal_volt_min = _current_analog_voltage;
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: Calibration started, rotate wind vane");
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}
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// record min and max voltage
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_cal_volt_max = MAX(_cal_volt_max, _current_analog_voltage);
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_cal_volt_min = MIN(_cal_volt_min, _current_analog_voltage);
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// calibrate for 30 seconds
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if ((AP_HAL::millis() - _cal_start_ms) > 30000) {
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// check for required voltage difference
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const float volt_diff = _cal_volt_max - _cal_volt_min;
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if (volt_diff >= WINDVANE_CALIBRATION_VOLT_DIFF_MIN) {
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// save min and max voltage
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_frontend._dir_analog_volt_max.set_and_save(_cal_volt_max);
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_frontend._dir_analog_volt_min.set_and_save(_cal_volt_min);
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: Calibration complete (volt min:%.1f max:%1.f)",
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(double)_cal_volt_min,
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(double)_cal_volt_max);
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} else {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: Calibration failed (volt diff %.1f below %.1f)",
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(double)volt_diff,
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(double)WINDVANE_CALIBRATION_VOLT_DIFF_MIN);
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}
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_frontend._calibration.set_and_save(0);
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_cal_start_ms = 0;
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}
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}
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#endif // AP_WINDVANE_ANALOG_ENABLED
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