mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* PX4 airspeed backend
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include "AP_Airspeed_PX4.h"
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#include <drivers/drv_airspeed.h>
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#include <uORB/topics/differential_pressure.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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extern const AP_HAL::HAL& hal;
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bool AP_Airspeed_PX4::init()
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{
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_fd = open(AIRSPEED0_DEVICE_PATH, O_RDONLY);
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if (_fd == -1) {
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return false;
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}
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if (OK != ioctl(_fd, SENSORIOCSPOLLRATE, 100) ||
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OK != ioctl(_fd, SENSORIOCSQUEUEDEPTH, 15)) {
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hal.console->println("Failed to setup airspeed driver rate and queue");
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}
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return true;
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}
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// read the airspeed sensor
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bool AP_Airspeed_PX4::get_differential_pressure(float &pressure)
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{
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if (_fd == -1) {
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return false;
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}
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// read from the PX4 airspeed sensor
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float psum = 0;
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float tsum = 0;
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uint16_t count = 0;
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struct differential_pressure_s report;
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while (::read(_fd, &report, sizeof(report)) == sizeof(report) &&
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report.timestamp != _last_timestamp) {
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psum += report.differential_pressure_raw_pa;
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tsum += report.temperature;
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count++;
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_last_timestamp = report.timestamp;
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}
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if (count == 0) {
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return false;
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}
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pressure = psum / count;
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_temperature = tsum / count;
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return true;
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}
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// read the temperature
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bool AP_Airspeed_PX4::get_temperature(float &temperature)
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{
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if (_temperature < -80) {
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// almost certainly a bad reading. The ETS driver on PX4
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// returns -1000
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return false;
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}
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temperature = _temperature;
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return true;
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}
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#endif // CONFIG_HAL_BOARD
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