mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.5 KiB
C++
70 lines
1.5 KiB
C++
#include "AP_Airspeed_MSP.h"
|
|
|
|
#if HAL_MSP_AIRSPEED_ENABLED
|
|
|
|
AP_Airspeed_MSP::AP_Airspeed_MSP(AP_Airspeed &_frontend, uint8_t _instance, uint8_t _msp_instance) :
|
|
AP_Airspeed_Backend(_frontend, _instance),
|
|
msp_instance(_msp_instance)
|
|
{
|
|
set_bus_id(AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP,0,msp_instance,0));
|
|
}
|
|
|
|
// return the current differential_pressure in Pascal
|
|
bool AP_Airspeed_MSP::get_differential_pressure(float &pressure)
|
|
{
|
|
WITH_SEMAPHORE(sem);
|
|
if (press_count == 0) {
|
|
return false;
|
|
}
|
|
pressure = sum_pressure/press_count;
|
|
press_count = 0;
|
|
sum_pressure = 0;
|
|
return true;
|
|
}
|
|
|
|
// get last temperature
|
|
bool AP_Airspeed_MSP::get_temperature(float &temperature)
|
|
{
|
|
WITH_SEMAPHORE(sem);
|
|
if (temp_count == 0) {
|
|
return false;
|
|
}
|
|
temperature = sum_temp/temp_count;
|
|
temp_count = 0;
|
|
sum_temp = 0;
|
|
return true;
|
|
}
|
|
|
|
void AP_Airspeed_MSP::handle_msp(const MSP::msp_airspeed_data_message_t &pkt)
|
|
{
|
|
if (pkt.instance != msp_instance) {
|
|
// not for us
|
|
return;
|
|
}
|
|
WITH_SEMAPHORE(sem);
|
|
|
|
sum_pressure += pkt.pressure;
|
|
press_count++;
|
|
if (press_count > 100) {
|
|
// prevent overflow
|
|
sum_pressure /= 2;
|
|
press_count /= 2;
|
|
}
|
|
|
|
if (pkt.temp == INT16_MIN) {
|
|
// invalid temperature
|
|
return;
|
|
}
|
|
|
|
sum_temp += pkt.temp*0.01;
|
|
temp_count++;
|
|
if (temp_count > 100) {
|
|
// prevent overflow
|
|
sum_temp /= 2;
|
|
temp_count /= 2;
|
|
}
|
|
|
|
}
|
|
|
|
#endif // HAL_MSP_AIRSPEED_ENABLED
|