ardupilot/ArduPlane/sensors.cpp

152 lines
4.0 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Plane.h"
#include <AP_RSSI/AP_RSSI.h>
void Plane::init_barometer(void)
{
gcs_send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
barometer.calibrate();
gcs_send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
void Plane::init_rangefinder(void)
{
#if RANGEFINDER_ENABLED == ENABLED
rangefinder.init();
#endif
}
/*
read the rangefinder and update height estimate
*/
void Plane::read_rangefinder(void)
{
#if RANGEFINDER_ENABLED == ENABLED
// notify the rangefinder of our approximate altitude above ground to allow it to power on
// during low-altitude flight when configured to power down during higher-altitude flight
float height;
#if AP_TERRAIN_AVAILABLE
if (terrain.status() == AP_Terrain::TerrainStatusOK && terrain.height_above_terrain(height, true)) {
rangefinder.set_estimated_terrain_height(height);
} else
#endif
{
// use the best available alt estimate via baro above home
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL) {
// ensure the rangefinder is powered-on when land alt is higher than home altitude.
// This is done using the target alt which we know is below us and we are sinking to it
height = height_above_target();
} else {
// otherwise just use the best available baro estimate above home.
height = relative_altitude();
}
rangefinder.set_estimated_terrain_height(height);
}
rangefinder.update();
if (should_log(MASK_LOG_SONAR))
Log_Write_Sonar();
rangefinder_height_update();
#endif
}
/*
calibrate compass
*/
void Plane::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
/*
Accel calibration
*/
void Plane::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
float trim_roll, trim_pitch;
if(ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
/*
ask airspeed sensor for a new value
*/
void Plane::read_airspeed(void)
{
if (airspeed.enabled()) {
airspeed.read();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Airspeed();
}
calc_airspeed_errors();
// supply a new temperature to the barometer from the digital
// airspeed sensor if we can
float temperature;
if (airspeed.get_temperature(temperature)) {
barometer.set_external_temperature(temperature);
}
}
// update smoothed airspeed estimate
float aspeed;
if (ahrs.airspeed_estimate(&aspeed)) {
smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
}
}
void Plane::zero_airspeed(bool in_startup)
{
airspeed.calibrate(in_startup);
read_airspeed();
// update barometric calibration with new airspeed supplied temperature
barometer.update_calibration();
gcs_send_text(MAV_SEVERITY_INFO,"Zero airspeed calibrated");
}
// read_battery - reads battery voltage and current and invokes failsafe
// should be called at 10hz
void Plane::read_battery(void)
{
battery.read();
compass.set_current(battery.current_amps());
if (!usb_connected &&
hal.util->get_soft_armed() &&
battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
low_battery_event();
}
}
// read the receiver RSSI as an 8 bit number for MAVLink
// RC_CHANNELS_SCALED message
void Plane::read_receiver_rssi(void)
{
receiver_rssi = rssi.read_receiver_rssi_uint8();
}
/*
update RPM sensors
*/
void Plane::rpm_update(void)
{
rpm_sensor.update();
if (rpm_sensor.healthy(0) || rpm_sensor.healthy(1)) {
if (should_log(MASK_LOG_RC)) {
DataFlash.Log_Write_RPM(rpm_sensor);
}
}
}