mirror of https://github.com/ArduPilot/ardupilot
146 lines
4.1 KiB
Plaintext
146 lines
4.1 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// Sensors are not available in HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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static void ReadSCP1000(void) {}
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#if CONFIG_SONAR == ENABLED
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static void init_sonar(void)
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{
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
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sonar.calculate_scaler(g.sonar_type, 3.3);
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#else
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sonar.calculate_scaler(g.sonar_type, 5.0);
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#endif
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}
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#endif
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static void init_barometer(void)
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{
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#if HIL_MODE == HIL_MODE_SENSORS
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gcs_update(); // look for inbound hil packets for initialization
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#endif
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ground_temperature = barometer.get_temperature();
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int i;
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// We take some readings...
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for(i = 0; i < 60; i++){
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delay(20);
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// get new data from absolute pressure sensor
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barometer.read();
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//Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press);
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}
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for(i = 0; i < 20; i++){
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delay(20);
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#if HIL_MODE == HIL_MODE_SENSORS
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gcs_update(); // look for inbound hil packets
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#endif
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// Get initial data from absolute pressure sensor
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barometer.read();
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ground_pressure = barometer.get_pressure();
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ground_temperature = (ground_temperature * 7 + barometer.get_temperature()) / 8;
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//Serial.printf("init %ld, %d, -, %ld, %ld, -, %d, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press, ground_temperature, ground_pressure);
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}
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}
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static void reset_baro(void)
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{
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ground_pressure = barometer.get_pressure();
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ground_temperature = barometer.get_temperature();
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}
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static int32_t read_barometer(void)
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{
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float x, scaling, temp;
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barometer.read();
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float abs_pressure = barometer.get_pressure();
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//Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure);
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scaling = (float)ground_pressure / abs_pressure;
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temp = ((float)ground_temperature / 10.0f) + 273.15f;
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x = log(scaling) * temp * 29271.267f;
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return (x / 10);
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}
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#endif // HIL_MODE != HIL_MODE_ATTITUDE
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static void init_compass()
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{
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
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dcm.set_compass(&compass);
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compass.init();
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compass.get_offsets(); // load offsets to account for airframe magnetic interference
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}
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static void init_optflow()
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{
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#ifdef OPTFLOW_ENABLED
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if( optflow.init(false) == false ) {
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g.optflow_enabled = false;
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SendDebug("\nFailed to Init OptFlow ");
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}
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optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
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optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
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// setup timed read of sensor
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//timer_scheduler.register_process(&AP_OpticalFlow::read);
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#endif
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}
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static void read_battery(void)
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{
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battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9;
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battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
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battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
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battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
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if(g.battery_monitoring == 1)
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battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
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if(g.battery_monitoring == 2)
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battery_voltage = battery_voltage4;
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4)
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battery_voltage = battery_voltage1;
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if(g.battery_monitoring == 4) {
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current_amps = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps * .9; //reads power sensor current pin
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current_total += current_amps * 0.0278; // called at 100ms on average
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}
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#if BATTERY_EVENT == 1
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//if(battery_voltage < g.low_voltage)
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// low_battery_event();
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if((battery_voltage < g.low_voltage) || (g.battery_monitoring == 4 && current_total > g.pack_capacity)){
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low_battery_event();
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#if PIEZO_LOW_VOLTAGE == 1
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// Only Activate if a battery is connected to avoid alarm on USB only
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if (battery_voltage1 > 1){
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piezo_on();
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}else{
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piezo_off();
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}
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#endif
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}else{
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#if PIEZO_LOW_VOLTAGE == 1
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piezo_off();
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#endif
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}
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#endif
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}
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//v: 10.9453, a: 17.4023, mah: 8.2
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