mirror of https://github.com/ArduPilot/ardupilot
308 lines
11 KiB
C++
308 lines
11 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <Filter/Filter.h>
|
|
#include <Filter/DerivativeFilter.h>
|
|
#include <AP_MSP/msp.h>
|
|
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
|
|
|
|
#ifndef HAL_MSP_BARO_ENABLED
|
|
#define HAL_MSP_BARO_ENABLED HAL_MSP_SENSORS_ENABLED
|
|
#endif
|
|
|
|
// maximum number of sensor instances
|
|
#ifndef BARO_MAX_INSTANCES
|
|
#define BARO_MAX_INSTANCES 3
|
|
#endif
|
|
|
|
// maximum number of drivers. Note that a single driver can provide
|
|
// multiple sensor instances
|
|
#define BARO_MAX_DRIVERS 3
|
|
|
|
// timeouts for health reporting
|
|
#define BARO_TIMEOUT_MS 500 // timeout in ms since last successful read
|
|
#define BARO_DATA_CHANGE_TIMEOUT_MS 2000 // timeout in ms since last successful read that involved temperature of pressure changing
|
|
|
|
#ifndef HAL_BARO_WIND_COMP_ENABLED
|
|
#define HAL_BARO_WIND_COMP_ENABLED !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH)
|
|
#endif
|
|
|
|
class AP_Baro_Backend;
|
|
|
|
class AP_Baro
|
|
{
|
|
friend class AP_Baro_Backend;
|
|
friend class AP_Baro_SITL; // for access to sensors[]
|
|
|
|
public:
|
|
AP_Baro();
|
|
|
|
/* Do not allow copies */
|
|
AP_Baro(const AP_Baro &other) = delete;
|
|
AP_Baro &operator=(const AP_Baro&) = delete;
|
|
|
|
// get singleton
|
|
static AP_Baro *get_singleton(void) {
|
|
return _singleton;
|
|
}
|
|
|
|
// barometer types
|
|
typedef enum {
|
|
BARO_TYPE_AIR,
|
|
BARO_TYPE_WATER
|
|
} baro_type_t;
|
|
|
|
// initialise the barometer object, loading backend drivers
|
|
void init(void);
|
|
|
|
// update the barometer object, asking backends to push data to
|
|
// the frontend
|
|
void update(void);
|
|
|
|
// healthy - returns true if sensor and derived altitude are good
|
|
bool healthy(void) const { return healthy(_primary); }
|
|
#ifdef HAL_BUILD_AP_PERIPH
|
|
// calibration and alt check not valid for AP_Periph
|
|
bool healthy(uint8_t instance) const { return sensors[instance].healthy; }
|
|
#else
|
|
bool healthy(uint8_t instance) const { return sensors[instance].healthy && sensors[instance].alt_ok && sensors[instance].calibrated; }
|
|
#endif
|
|
|
|
// check if all baros are healthy - used for SYS_STATUS report
|
|
bool all_healthy(void) const;
|
|
|
|
// get primary sensor
|
|
uint8_t get_primary(void) const { return _primary; }
|
|
|
|
// pressure in Pascal. Divide by 100 for millibars or hectopascals
|
|
float get_pressure(void) const { return get_pressure(_primary); }
|
|
float get_pressure(uint8_t instance) const { return sensors[instance].pressure; }
|
|
|
|
// temperature in degrees C
|
|
float get_temperature(void) const { return get_temperature(_primary); }
|
|
float get_temperature(uint8_t instance) const { return sensors[instance].temperature; }
|
|
|
|
// get pressure correction in Pascal. Divide by 100 for millibars or hectopascals
|
|
float get_pressure_correction(void) const { return get_pressure_correction(_primary); }
|
|
float get_pressure_correction(uint8_t instance) const { return sensors[instance].p_correction; }
|
|
|
|
// accumulate a reading on sensors. Some backends without their
|
|
// own thread or a timer may need this.
|
|
void accumulate(void);
|
|
|
|
// calibrate the barometer. This must be called on startup if the
|
|
// altitude/climb_rate/acceleration interfaces are ever used
|
|
void calibrate(bool save=true);
|
|
|
|
// update the barometer calibration to the current pressure. Can
|
|
// be used for incremental preflight update of baro
|
|
void update_calibration(void);
|
|
|
|
// get current altitude in meters relative to altitude at the time
|
|
// of the last calibrate() call
|
|
float get_altitude(void) const { return get_altitude(_primary); }
|
|
float get_altitude(uint8_t instance) const { return sensors[instance].altitude; }
|
|
|
|
// returns which i2c bus is considered "the" external bus
|
|
uint8_t external_bus() const { return _ext_bus; }
|
|
|
|
// get altitude difference in meters relative given a base
|
|
// pressure in Pascal
|
|
float get_altitude_difference(float base_pressure, float pressure) const;
|
|
|
|
// get scale factor required to convert equivalent to true airspeed
|
|
float get_EAS2TAS(void);
|
|
|
|
// get air density / sea level density - decreases as altitude climbs
|
|
float get_air_density_ratio(void);
|
|
|
|
// get current climb rate in meters/s. A positive number means
|
|
// going up
|
|
float get_climb_rate(void);
|
|
|
|
// ground temperature in degrees C
|
|
// the ground values are only valid after calibration
|
|
float get_ground_temperature(void) const;
|
|
|
|
// ground pressure in Pascal
|
|
// the ground values are only valid after calibration
|
|
float get_ground_pressure(void) const { return get_ground_pressure(_primary); }
|
|
float get_ground_pressure(uint8_t i) const { return sensors[i].ground_pressure.get(); }
|
|
|
|
// set the temperature to be used for altitude calibration. This
|
|
// allows an external temperature source (such as a digital
|
|
// airspeed sensor) to be used as the temperature source
|
|
void set_external_temperature(float temperature);
|
|
|
|
// get last time sample was taken (in ms)
|
|
uint32_t get_last_update(void) const { return get_last_update(_primary); }
|
|
uint32_t get_last_update(uint8_t instance) const { return sensors[instance].last_update_ms; }
|
|
|
|
// settable parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
float get_external_temperature(void) const { return get_external_temperature(_primary); };
|
|
float get_external_temperature(const uint8_t instance) const;
|
|
|
|
// Set the primary baro
|
|
void set_primary_baro(uint8_t primary) { _primary_baro.set_and_save(primary); };
|
|
|
|
// Set the type (Air or Water) of a particular instance
|
|
void set_type(uint8_t instance, baro_type_t type) { sensors[instance].type = type; };
|
|
|
|
// Get the type (Air or Water) of a particular instance
|
|
baro_type_t get_type(uint8_t instance) { return sensors[instance].type; };
|
|
|
|
// register a new sensor, claiming a sensor slot. If we are out of
|
|
// slots it will panic
|
|
uint8_t register_sensor(void);
|
|
|
|
// return number of registered sensors
|
|
uint8_t num_instances(void) const { return _num_sensors; }
|
|
|
|
// set baro drift amount
|
|
void set_baro_drift_altitude(float alt) { _alt_offset = alt; }
|
|
|
|
// get baro drift amount
|
|
float get_baro_drift_offset(void) const { return _alt_offset_active; }
|
|
|
|
// simple atmospheric model
|
|
static void SimpleAtmosphere(const float alt, float &sigma, float &delta, float &theta);
|
|
|
|
// simple underwater atmospheric model
|
|
static void SimpleUnderWaterAtmosphere(float alt, float &rho, float &delta, float &theta);
|
|
|
|
// set a pressure correction from AP_TempCalibration
|
|
void set_pressure_correction(uint8_t instance, float p_correction);
|
|
|
|
uint8_t get_filter_range() const { return _filter_range; }
|
|
|
|
// indicate which bit in LOG_BITMASK indicates baro logging enabled
|
|
void set_log_baro_bit(uint32_t bit) { _log_baro_bit = bit; }
|
|
bool should_log() const;
|
|
|
|
// allow threads to lock against baro update
|
|
HAL_Semaphore &get_semaphore(void) {
|
|
return _rsem;
|
|
}
|
|
|
|
#if HAL_MSP_BARO_ENABLED
|
|
void handle_msp(const MSP::msp_baro_data_message_t &pkt);
|
|
#endif
|
|
|
|
#if HAL_EXTERNAL_AHRS_ENABLED
|
|
void handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt);
|
|
#endif
|
|
|
|
private:
|
|
// singleton
|
|
static AP_Baro *_singleton;
|
|
|
|
// how many drivers do we have?
|
|
uint8_t _num_drivers;
|
|
AP_Baro_Backend *drivers[BARO_MAX_DRIVERS];
|
|
|
|
// how many sensors do we have?
|
|
uint8_t _num_sensors;
|
|
|
|
// what is the primary sensor at the moment?
|
|
uint8_t _primary;
|
|
|
|
uint32_t _log_baro_bit = -1;
|
|
|
|
bool init_done;
|
|
|
|
#if HAL_MSP_BARO_ENABLED
|
|
uint8_t msp_instance_mask;
|
|
#endif
|
|
|
|
// bitmask values for GND_PROBE_EXT
|
|
enum {
|
|
PROBE_BMP085=(1<<0),
|
|
PROBE_BMP280=(1<<1),
|
|
PROBE_MS5611=(1<<2),
|
|
PROBE_MS5607=(1<<3),
|
|
PROBE_MS5637=(1<<4),
|
|
PROBE_FBM320=(1<<5),
|
|
PROBE_DPS280=(1<<6),
|
|
PROBE_LPS25H=(1<<7),
|
|
PROBE_KELLER=(1<<8),
|
|
PROBE_MS5837=(1<<9),
|
|
PROBE_BMP388=(1<<10),
|
|
PROBE_SPL06 =(1<<11),
|
|
PROBE_MSP =(1<<12),
|
|
};
|
|
|
|
#if HAL_BARO_WIND_COMP_ENABLED
|
|
class WindCoeff {
|
|
public:
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
AP_Int8 enable; // enable compensation for this barometer
|
|
AP_Float xp; // ratio of static pressure rise to dynamic pressure when flying forwards
|
|
AP_Float xn; // ratio of static pressure rise to dynamic pressure when flying backwards
|
|
AP_Float yp; // ratio of static pressure rise to dynamic pressure when flying to the right
|
|
AP_Float yn; // ratio of static pressure rise to dynamic pressure when flying to the left
|
|
};
|
|
#endif
|
|
|
|
struct sensor {
|
|
uint32_t last_update_ms; // last update time in ms
|
|
uint32_t last_change_ms; // last update time in ms that included a change in reading from previous readings
|
|
float pressure; // pressure in Pascal
|
|
float temperature; // temperature in degrees C
|
|
float altitude; // calculated altitude
|
|
AP_Float ground_pressure;
|
|
float p_correction;
|
|
baro_type_t type; // 0 for air pressure (default), 1 for water pressure
|
|
bool healthy; // true if sensor is healthy
|
|
bool alt_ok; // true if calculated altitude is ok
|
|
bool calibrated; // true if calculated calibrated successfully
|
|
AP_Int32 bus_id;
|
|
#if HAL_BARO_WIND_COMP_ENABLED
|
|
WindCoeff wind_coeff;
|
|
#endif
|
|
} sensors[BARO_MAX_INSTANCES];
|
|
|
|
AP_Float _alt_offset;
|
|
float _alt_offset_active;
|
|
AP_Int8 _primary_baro; // primary chosen by user
|
|
AP_Int8 _ext_bus; // bus number for external barometer
|
|
float _last_altitude_EAS2TAS;
|
|
float _EAS2TAS;
|
|
float _external_temperature;
|
|
uint32_t _last_external_temperature_ms;
|
|
DerivativeFilterFloat_Size7 _climb_rate_filter;
|
|
AP_Float _specific_gravity; // the specific gravity of fluid for an ROV 1.00 for freshwater, 1.024 for salt water
|
|
AP_Float _user_ground_temperature; // user override of the ground temperature used for EAS2TAS
|
|
float _guessed_ground_temperature; // currently ground temperature estimate using our best abailable source
|
|
|
|
// when did we last notify the GCS of new pressure reference?
|
|
uint32_t _last_notify_ms;
|
|
|
|
bool _add_backend(AP_Baro_Backend *backend);
|
|
void _probe_i2c_barometers(void);
|
|
AP_Int8 _filter_range; // valid value range from mean value
|
|
AP_Int32 _baro_probe_ext;
|
|
|
|
// semaphore for API access from threads
|
|
HAL_Semaphore _rsem;
|
|
|
|
#if HAL_BARO_WIND_COMP_ENABLED
|
|
/*
|
|
return pressure correction for wind based on GND_WCOEF parameters
|
|
*/
|
|
float wind_pressure_correction(uint8_t instance);
|
|
#endif
|
|
|
|
// Logging function
|
|
void Write_Baro(void);
|
|
void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance);
|
|
|
|
};
|
|
|
|
namespace AP {
|
|
AP_Baro &baro();
|
|
};
|