mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.7 KiB
C++
138 lines
3.7 KiB
C++
#include "Sub.h"
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// return barometric altitude in centimeters
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void Sub::read_barometer()
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{
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barometer.update();
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if (ap.depth_sensor_present) {
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sensor_health.depth = barometer.healthy(depth_sensor_idx);
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}
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}
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void Sub::init_rangefinder()
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.init();
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rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
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rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
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#endif
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}
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// return rangefinder altitude in centimeters
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void Sub::read_rangefinder()
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{
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#if RANGEFINDER_ENABLED == ENABLED
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rangefinder.update();
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rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));
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int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
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#if RANGEFINDER_TILT_CORRECTION == ENABLED
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// correct alt for angle of the rangefinder
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temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
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#endif
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rangefinder_state.alt_cm = temp_alt;
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// filter rangefinder for use by AC_WPNav
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uint32_t now = AP_HAL::millis();
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if (rangefinder_state.alt_healthy) {
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if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) {
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// reset filter if we haven't used it within the last second
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rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);
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} else {
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rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);
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}
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rangefinder_state.last_healthy_ms = now;
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}
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// send rangefinder altitude and health to waypoint navigation library
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wp_nav.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
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#else
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rangefinder_state.enabled = false;
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rangefinder_state.alt_healthy = false;
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rangefinder_state.alt_cm = 0;
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#endif
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}
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// return true if rangefinder_alt can be used
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bool Sub::rangefinder_alt_ok()
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{
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return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
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}
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/*
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update RPM sensors
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*/
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#if RPM_ENABLED == ENABLED
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void Sub::rpm_update(void)
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{
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rpm_sensor.update();
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if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
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if (should_log(MASK_LOG_RCIN)) {
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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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#endif
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// initialise compass
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void Sub::init_compass()
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{
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if (!compass.init() || !compass.read()) {
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// make sure we don't pass a broken compass to DCM
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hal.console->println("COMPASS INIT ERROR");
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
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return;
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}
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ahrs.set_compass(&compass);
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}
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/*
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initialise compass's location used for declination
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*/
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void Sub::init_compass_location()
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{
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// update initial location used for declination
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if (!ap.compass_init_location) {
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Location loc;
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if (ahrs.get_position(loc)) {
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compass.set_initial_location(loc.lat, loc.lng);
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ap.compass_init_location = true;
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}
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}
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}
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// initialise optical flow sensor
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#if OPTFLOW == ENABLED
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void Sub::init_optflow()
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{
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// initialise optical flow sensor
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optflow.init(MASK_LOG_OPTFLOW);
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}
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#endif // OPTFLOW == ENABLED
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void Sub::compass_cal_update()
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{
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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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void Sub::accel_cal_update()
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{
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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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// check if new trim values, and set them
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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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