mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 07:58:28 -04:00
101 lines
2.9 KiB
Plaintext
101 lines
2.9 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void init_barometer(void)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
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barometer.calibrate();
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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static void init_rangefinder(void)
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{
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rangefinder.init();
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}
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/*
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read the rangefinder and update height estimate
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*/
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static void read_rangefinder(void)
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{
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rangefinder.update();
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uint16_t distance_cm = rangefinder.distance_cm();
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int16_t max_distance_cm = rangefinder.max_distance_cm();
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if (rangefinder.healthy() && distance_cm < max_distance_cm) {
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// correct the range for attitude (multiply by DCM.c.z, which
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// is cos(roll)*cos(pitch))
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float corrected_range = distance_cm * 0.01f * ahrs.get_dcm_matrix().c.z;
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if (rangefinder_state.in_range_count == 0) {
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// we've just come back into range, start with this value
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rangefinder_state.height_estimate = corrected_range;
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} else {
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// low pass filter to reduce noise. This runs at 50Hz, so
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// converges fast. We don't want too much filtering
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// though, as it would introduce lag which would delay flaring
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rangefinder_state.height_estimate = 0.75f * rangefinder_state.height_estimate + 0.25f * corrected_range;
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}
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// we consider ourselves to be fully in range when we have 10
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// good samples (0.2s)
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if (rangefinder_state.in_range_count < 10) {
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rangefinder_state.in_range_count++;
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} else {
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rangefinder_state.in_range = true;
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}
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} else {
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rangefinder_state.in_range_count = 0;
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rangefinder_state.in_range = false;
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}
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if (should_log(MASK_LOG_SONAR))
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Log_Write_Sonar();
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}
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/*
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ask airspeed sensor for a new value
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*/
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static void read_airspeed(void)
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{
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if (airspeed.enabled()) {
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airspeed.read();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Airspeed();
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}
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calc_airspeed_errors();
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}
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}
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static void zero_airspeed(void)
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{
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airspeed.calibrate();
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gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
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}
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// read_battery - reads battery voltage and current and invokes failsafe
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// should be called at 10hz
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static void read_battery(void)
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{
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battery.read();
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compass.set_current(battery.current_amps());
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if (!usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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low_battery_event();
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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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// avoid divide by zero
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if (g.rssi_range <= 0) {
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receiver_rssi = 0;
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}else{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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}
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