ardupilot/libraries/AP_RPM/AP_RPM.cpp

161 lines
4.5 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RPM.h"
#include "RPM_PX4_PWM.h"
#include "RPM_SITL.h"
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_RPM::var_info[] = {
// @Param: _TYPE
// @DisplayName: RPM type
// @Description: What type of RPM sensor is connected
// @Values: 0:None,1:PX4-PWM
AP_GROUPINFO("_TYPE", 0, AP_RPM, _type[0], 0),
// @Param: _SCALING
// @DisplayName: RPM scaling
// @Description: Scaling factor between sensor reading and RPM.
// @Increment: 0.001
AP_GROUPINFO("_SCALING", 1, AP_RPM, _scaling[0], 1.0f),
// @Param: _MAX
// @DisplayName: Maximum RPM
// @Description: Maximum RPM to report
// @Increment: 1
AP_GROUPINFO("_MAX", 2, AP_RPM, _maximum[0], 0),
// @Param: _MIN
// @DisplayName: Minimum RPM
// @Description: Minimum RPM to report
// @Increment: 1
AP_GROUPINFO("_MIN", 3, AP_RPM, _minimum[0], 0),
// @Param: _MIN_QUAL
// @DisplayName: Minimum Quality
// @Description: Minimum data quality to be used
// @Increment: 0.1
AP_GROUPINFO("_MIN_QUAL", 4, AP_RPM, _quality_min[0], 0.5),
#if RPM_MAX_INSTANCES > 1
// @Param: 2_TYPE
// @DisplayName: Second RPM type
// @Description: What type of RPM sensor is connected
// @Values: 0:None,1:PX4-PWM
AP_GROUPINFO("2_TYPE", 10, AP_RPM, _type[1], 0),
// @Param: 2_SCALING
// @DisplayName: RPM scaling
// @Description: Scaling factor between sensor reading and RPM.
// @Increment: 0.001
AP_GROUPINFO("2_SCALING", 11, AP_RPM, _scaling[1], 1.0f),
#endif
AP_GROUPEND
};
AP_RPM::AP_RPM(void) :
num_instances(0)
{
AP_Param::setup_object_defaults(this, var_info);
// init state and drivers
memset(state,0,sizeof(state));
memset(drivers,0,sizeof(drivers));
}
/*
initialise the AP_RPM class.
*/
void AP_RPM::init(void)
{
if (num_instances != 0) {
// init called a 2nd time?
return;
}
for (uint8_t i=0; i<RPM_MAX_INSTANCES; i++) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
uint8_t type = _type[num_instances];
uint8_t instance = num_instances;
if (type == RPM_TYPE_PX4_PWM) {
state[instance].instance = instance;
drivers[instance] = new AP_RPM_PX4_PWM(*this, instance, state[instance]);
}
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
uint8_t instance = num_instances;
state[instance].instance = instance;
drivers[instance] = new AP_RPM_SITL(*this, instance, state[instance]);
#endif
if (drivers[i] != NULL) {
// we loaded a driver for this instance, so it must be
// present (although it may not be healthy)
num_instances = i+1;
}
}
}
/*
update RPM state for all instances. This should be called by main loop
*/
void AP_RPM::update(void)
{
for (uint8_t i=0; i<num_instances; i++) {
if (drivers[i] != NULL) {
if (_type[i] == RPM_TYPE_NONE) {
// allow user to disable a RPM sensor at runtime
continue;
}
drivers[i]->update();
}
}
}
/*
check if an instance is healthy
*/
bool AP_RPM::healthy(uint8_t instance) const
{
if (instance >= num_instances) {
return false;
}
// check that data quality is above minimum required
if (state[instance].signal_quality < _quality_min[0]) {
return false;
}
return true;
}
/*
check if an instance is activated
*/
bool AP_RPM::enabled(uint8_t instance) const
{
if (instance >= num_instances) {
return false;
}
// if no sensor type is selected, the sensor is not activated.
if (_type[instance] == RPM_TYPE_NONE) {
return false;
}
return true;
}