mirror of https://github.com/ArduPilot/ardupilot
159 lines
4.2 KiB
C++
159 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Plane.h"
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#include <AP_RSSI/AP_RSSI.h>
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void Plane::init_barometer(bool full_calibration)
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{
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gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
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if (full_calibration) {
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barometer.calibrate();
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} else {
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barometer.update_calibration();
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}
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gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
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}
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void Plane::init_rangefinder(void)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.init();
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#endif
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}
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/*
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read the rangefinder and update height estimate
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*/
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void Plane::read_rangefinder(void)
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{
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#if RANGEFINDER_ENABLED == ENABLED
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// notify the rangefinder of our approximate altitude above ground to allow it to power on
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// during low-altitude flight when configured to power down during higher-altitude flight
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float height;
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#if AP_TERRAIN_AVAILABLE
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if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
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rangefinder.set_estimated_terrain_height(height);
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} else
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#endif
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{
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// use the best available alt estimate via baro above home
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if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
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flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE ||
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flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
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// ensure the rangefinder is powered-on when land alt is higher than home altitude.
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// This is done using the target alt which we know is below us and we are sinking to it
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height = height_above_target();
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} else {
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// otherwise just use the best available baro estimate above home.
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height = relative_altitude();
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}
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rangefinder.set_estimated_terrain_height(height);
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}
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rangefinder.update();
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if (should_log(MASK_LOG_SONAR))
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Log_Write_Sonar();
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rangefinder_height_update();
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#endif
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}
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/*
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calibrate compass
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*/
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void Plane::compass_cal_update() {
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if (!hal.util->get_soft_armed()) {
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compass.compass_cal_update();
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}
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}
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/*
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Accel calibration
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*/
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void Plane::accel_cal_update() {
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if (hal.util->get_soft_armed()) {
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return;
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}
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ins.acal_update();
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float trim_roll, trim_pitch;
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if(ins.get_new_trim(trim_roll, trim_pitch)) {
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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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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void Plane::read_airspeed(void)
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{
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if (airspeed.enabled()) {
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airspeed.read();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Airspeed();
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}
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calc_airspeed_errors();
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// supply a new temperature to the barometer from the digital
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// airspeed sensor if we can
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float temperature;
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if (airspeed.get_temperature(temperature)) {
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barometer.set_external_temperature(temperature);
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}
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}
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// update smoothed airspeed estimate
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float aspeed;
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if (ahrs.airspeed_estimate(&aspeed)) {
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smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
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}
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}
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void Plane::zero_airspeed(bool in_startup)
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{
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airspeed.calibrate(in_startup);
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read_airspeed();
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// update barometric calibration with new airspeed supplied temperature
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barometer.update_calibration();
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gcs_send_text(MAV_SEVERITY_INFO,"Airspeed calibration started");
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}
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// read_battery - reads battery voltage and current and invokes failsafe
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// should be called at 10hz
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void Plane::read_battery(void)
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{
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battery.read();
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compass.set_current(battery.current_amps());
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if (!usb_connected &&
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hal.util->get_soft_armed() &&
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battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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low_battery_event();
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}
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if (should_log(MASK_LOG_CURRENT)) {
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Log_Write_Current();
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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 Plane::read_receiver_rssi(void)
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{
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receiver_rssi = rssi.read_receiver_rssi_uint8();
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}
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/*
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update RPM sensors
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*/
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void Plane::rpm_update(void)
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{
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rpm_sensor.update();
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if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
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if (should_log(MASK_LOG_RC)) {
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DataFlash.Log_Write_RPM(rpm_sensor);
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}
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}
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}
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