ardupilot/libraries/AP_LeakDetector/AP_LeakDetector_Analog.cpp

22 lines
724 B
C++

#include "AP_LeakDetector_Analog.h"
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
AP_LeakDetector_Analog::AP_LeakDetector_Analog(AP_LeakDetector &_leak_detector, AP_LeakDetector::LeakDetector_State &_state) :
AP_LeakDetector_Backend(_leak_detector, _state)
{
source = hal.analogin->channel(leak_detector._pin[state.instance]);
}
void AP_LeakDetector_Analog::read()
{
if (source != NULL && leak_detector._pin[state.instance] >= 0) {
source->set_pin(leak_detector._pin[state.instance]);
state.status = source->voltage_average() > 2.0f;
state.status = state.status==leak_detector._default_reading[state.instance]?false:true;
} else {
state.status = false;
}
}