mirror of https://github.com/ArduPilot/ardupilot
176 lines
4.6 KiB
Plaintext
176 lines
4.6 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
static void init_barometer(bool full_calibration)
|
|
{
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
|
|
if (full_calibration) {
|
|
barometer.calibrate();
|
|
}else{
|
|
barometer.update_calibration();
|
|
}
|
|
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
|
|
}
|
|
|
|
// return barometric altitude in centimeters
|
|
static void read_barometer(void)
|
|
{
|
|
barometer.update();
|
|
if (should_log(MASK_LOG_IMU)) {
|
|
Log_Write_Baro();
|
|
}
|
|
baro_alt = barometer.get_altitude() * 100.0f;
|
|
baro_climbrate = barometer.get_climb_rate() * 100.0f;
|
|
|
|
motors.set_air_density_ratio(barometer.get_air_density_ratio());
|
|
}
|
|
|
|
#if CONFIG_SONAR == ENABLED
|
|
static void init_sonar(void)
|
|
{
|
|
sonar.init();
|
|
}
|
|
#endif
|
|
|
|
// return sonar altitude in centimeters
|
|
static int16_t read_sonar(void)
|
|
{
|
|
#if CONFIG_SONAR == ENABLED
|
|
sonar.update();
|
|
|
|
// exit immediately if sonar is disabled
|
|
if (!sonar_enabled || (sonar.status() != RangeFinder::RangeFinder_Good)) {
|
|
sonar_alt_health = 0;
|
|
return 0;
|
|
}
|
|
|
|
int16_t temp_alt = sonar.distance_cm();
|
|
|
|
if (temp_alt >= sonar.min_distance_cm() &&
|
|
temp_alt <= sonar.max_distance_cm() * SONAR_RELIABLE_DISTANCE_PCT) {
|
|
if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) {
|
|
sonar_alt_health++;
|
|
}
|
|
}else{
|
|
sonar_alt_health = 0;
|
|
}
|
|
|
|
#if SONAR_TILT_CORRECTION == 1
|
|
// correct alt for angle of the sonar
|
|
float temp = ahrs.cos_pitch() * ahrs.cos_roll();
|
|
temp = max(temp, 0.707f);
|
|
temp_alt = (float)temp_alt * temp;
|
|
#endif
|
|
|
|
return temp_alt;
|
|
#else
|
|
return 0;
|
|
#endif
|
|
}
|
|
|
|
// initialise compass
|
|
static void init_compass()
|
|
{
|
|
if (!compass.init() || !compass.read()) {
|
|
// make sure we don't pass a broken compass to DCM
|
|
cliSerial->println_P(PSTR("COMPASS INIT ERROR"));
|
|
Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
|
|
return;
|
|
}
|
|
ahrs.set_compass(&compass);
|
|
}
|
|
|
|
// initialise optical flow sensor
|
|
static void init_optflow()
|
|
{
|
|
#if OPTFLOW == ENABLED
|
|
// exit immediately if not enabled
|
|
if (!optflow.enabled()) {
|
|
return;
|
|
}
|
|
|
|
// initialise optical flow sensor
|
|
optflow.init();
|
|
#endif // OPTFLOW == ENABLED
|
|
}
|
|
|
|
// called at 200hz
|
|
#if OPTFLOW == ENABLED
|
|
static void update_optical_flow(void)
|
|
{
|
|
static uint32_t last_of_update = 0;
|
|
|
|
// exit immediately if not enabled
|
|
if (!optflow.enabled()) {
|
|
return;
|
|
}
|
|
|
|
// read from sensor
|
|
optflow.update();
|
|
|
|
// write to log and send to EKF if new data has arrived
|
|
if (optflow.last_update() != last_of_update) {
|
|
last_of_update = optflow.last_update();
|
|
uint8_t flowQuality = optflow.quality();
|
|
Vector2f flowRate = optflow.flowRate();
|
|
Vector2f bodyRate = optflow.bodyRate();
|
|
ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update);
|
|
if (g.log_bitmask & MASK_LOG_OPTFLOW) {
|
|
Log_Write_Optflow();
|
|
}
|
|
}
|
|
}
|
|
#endif // OPTFLOW == ENABLED
|
|
|
|
// read_battery - check battery voltage and current and invoke failsafe if necessary
|
|
// called at 10hz
|
|
static void read_battery(void)
|
|
{
|
|
battery.read();
|
|
|
|
// update compass with current value
|
|
if (battery.has_current()) {
|
|
compass.set_current(battery.current_amps());
|
|
}
|
|
|
|
// update motors with voltage and current
|
|
if (battery.get_type() != AP_BattMonitor::BattMonitor_TYPE_NONE) {
|
|
motors.set_voltage(battery.voltage());
|
|
}
|
|
if (battery.has_current()) {
|
|
motors.set_current(battery.current_amps());
|
|
}
|
|
|
|
// check for low voltage or current if the low voltage check hasn't already been triggered
|
|
// we only check when we're not powered by USB to avoid false alarms during bench tests
|
|
if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
|
|
failsafe_battery_event();
|
|
}
|
|
|
|
// log battery info to the dataflash
|
|
if (should_log(MASK_LOG_CURRENT)) {
|
|
Log_Write_Current();
|
|
}
|
|
}
|
|
|
|
// read the receiver RSSI as an 8 bit number for MAVLink
|
|
// RC_CHANNELS_SCALED message
|
|
void read_receiver_rssi(void)
|
|
{
|
|
// avoid divide by zero
|
|
if (g.rssi_range <= 0) {
|
|
receiver_rssi = 0;
|
|
}else{
|
|
rssi_analog_source->set_pin(g.rssi_pin);
|
|
float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
|
|
receiver_rssi = constrain_int16(ret, 0, 255);
|
|
}
|
|
}
|
|
|
|
#if EPM_ENABLED == ENABLED
|
|
// epm update - moves epm pwm output back to neutral after grab or release is completed
|
|
void epm_update()
|
|
{
|
|
epm.update();
|
|
}
|
|
#endif
|