mirror of https://github.com/ArduPilot/ardupilot
119 lines
3.2 KiB
Plaintext
119 lines
3.2 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#if CONFIG_SONAR == ENABLED
|
|
static void init_sonar(void)
|
|
{
|
|
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
|
|
sonar->calculate_scaler(g.sonar_type, 3.3f);
|
|
#else
|
|
sonar->calculate_scaler(g.sonar_type, 5.0f);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
static void init_barometer(bool full_calibration)
|
|
{
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
|
|
if (full_calibration) {
|
|
barometer.calibrate();
|
|
}else{
|
|
barometer.update_calibration();
|
|
}
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
|
|
}
|
|
|
|
// return barometric altitude in centimeters
|
|
static int32_t read_barometer(void)
|
|
{
|
|
barometer.read();
|
|
return barometer.get_altitude() * 100.0f;
|
|
}
|
|
|
|
// return sonar altitude in centimeters
|
|
static int16_t read_sonar(void)
|
|
{
|
|
#if CONFIG_SONAR == ENABLED
|
|
// exit immediately if sonar is disabled
|
|
if( !g.sonar_enabled ) {
|
|
sonar_alt_health = 0;
|
|
return 0;
|
|
}
|
|
|
|
int16_t temp_alt = sonar->read();
|
|
|
|
if (temp_alt >= sonar->min_distance && temp_alt <= sonar->max_distance * SONAR_RELIABLE_DISTANCE_PCT) {
|
|
if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
|
|
sonar_alt_health++;
|
|
}
|
|
}else{
|
|
sonar_alt_health = 0;
|
|
}
|
|
|
|
#if SONAR_TILT_CORRECTION == 1
|
|
// correct alt for angle of the sonar
|
|
float temp = ahrs.cos_pitch() * ahrs.cos_roll();
|
|
temp = max(temp, 0.707f);
|
|
temp_alt = (float)temp_alt * temp;
|
|
#endif
|
|
|
|
return temp_alt;
|
|
#else
|
|
return 0;
|
|
#endif
|
|
}
|
|
|
|
static void init_compass()
|
|
{
|
|
if (!compass.init() || !compass.read()) {
|
|
// make sure we don't pass a broken compass to DCM
|
|
cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
|
|
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
|
|
return;
|
|
}
|
|
ahrs.set_compass(&compass);
|
|
}
|
|
|
|
static void init_optflow()
|
|
{
|
|
#if OPTFLOW == ENABLED
|
|
optflow.init();
|
|
if (!optflow.healthy()) {
|
|
g.optflow_enabled = false;
|
|
cliSerial->print_P(PSTR("Failed to Init OptFlow\n"));
|
|
Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE);
|
|
}
|
|
#endif // OPTFLOW == ENABLED
|
|
}
|
|
|
|
// read_battery - check battery voltage and current and invoke failsafe if necessary
|
|
// called at 10hz
|
|
static void read_battery(void)
|
|
{
|
|
battery.read();
|
|
|
|
// update compass with current value
|
|
if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) {
|
|
compass.set_current(battery.current_amps());
|
|
}
|
|
|
|
// check for low voltage or current if the low voltage check hasn't already been triggered
|
|
// we only check when we're not powered by USB to avoid false alarms during bench tests
|
|
if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
|
|
failsafe_battery_event();
|
|
}
|
|
}
|
|
|
|
// read the receiver RSSI as an 8 bit number for MAVLink
|
|
// RC_CHANNELS_SCALED message
|
|
void read_receiver_rssi(void)
|
|
{
|
|
// avoid divide by zero
|
|
if (g.rssi_range <= 0) {
|
|
receiver_rssi = 0;
|
|
}else{
|
|
rssi_analog_source->set_pin(g.rssi_pin);
|
|
float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
|
|
receiver_rssi = constrain_int16(ret, 0, 255);
|
|
}
|
|
}
|