mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
Plaintext
48 lines
1.3 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void init_sonar(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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sonar.Init(&adc);
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#else
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sonar.Init(NULL);
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#endif
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}
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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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void ReadSCP1000(void) {}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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static void read_battery(void)
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{
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if(g.battery_monitoring == 0) {
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battery_voltage1 = 0;
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return;
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}
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) {
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// this copes with changing the pin at runtime
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batt_volt_pin->set_pin(g.battery_volt_pin);
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battery_voltage1 = BATTERY_VOLTAGE(batt_volt_pin);
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}
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if(g.battery_monitoring == 4) {
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// this copes with changing the pin at runtime
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batt_curr_pin->set_pin(g.battery_curr_pin);
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current_amps1 = CURRENT_AMPS(batt_curr_pin);
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current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours)
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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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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->read_average();
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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