ardupilot/libraries/AP_Baro/AP_Baro_PX4.cpp

87 lines
2.2 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <AP_Baro.h>
#include "AP_Baro_PX4.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>
extern const AP_HAL::HAL& hal;
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Baro_PX4::init(void)
{
if (_baro_fd <= 0) {
_baro_fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (_baro_fd < 0) {
hal.scheduler->panic("Unable to open " BARO_DEVICE_PATH);
}
/* set the driver to poll at 150Hz */
ioctl(_baro_fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX);
// average over up to 20 samples
ioctl(_baro_fd, SENSORIOCSQUEUEDEPTH, 20);
// give the timer a chance to run and gather one sample
hal.scheduler->delay(40);
_accumulate();
}
return true;
}
// Read the sensor
uint8_t AP_Baro_PX4::read(void)
{
// try to accumulate one more sample, so we have the latest data
_accumulate();
// consider the baro healthy if we got a reading in the last 0.2s
_flags.healthy = (hal.scheduler->micros64() - _last_timestamp < 200000);
if (!_flags.healthy || _sum_count == 0) {
return _flags.healthy;
}
_pressure = (_pressure_sum / _sum_count) * 100.0f;
_temperature = _temperature_sum / _sum_count;
_pressure_samples = _sum_count;
_last_update = (uint32_t)_last_timestamp/1000;
_pressure_sum = 0;
_temperature_sum = 0;
_sum_count = 0;
return 1;
}
// accumulate sensor values
void AP_Baro_PX4::_accumulate(void)
{
struct baro_report baro_report;
while (::read(_baro_fd, &baro_report, sizeof(baro_report)) == sizeof(baro_report) &&
baro_report.timestamp != _last_timestamp) {
_pressure_sum += baro_report.pressure; // Pressure in mbar
_temperature_sum += baro_report.temperature; // degrees celcius
_sum_count++;
_last_timestamp = baro_report.timestamp;
}
}
float AP_Baro_PX4::get_pressure() {
return _pressure;
}
float AP_Baro_PX4::get_temperature() {
return _temperature;
}
#endif // CONFIG_HAL_BOARD