mirror of https://github.com/ArduPilot/ardupilot
88 lines
2.0 KiB
Plaintext
88 lines
2.0 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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static void init_barometer(void)
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{
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
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barometer.calibrate();
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
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}
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static void init_sonar(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
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sonar.Init(&apm1_adc);
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#else
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sonar.Init(NULL);
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#endif
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}
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// read the sonars
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static void read_sonars(void)
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{
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if (!sonar.enabled()) {
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// this makes it possible to disable sonar at runtime
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return;
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}
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if (should_log(MASK_LOG_SONAR))
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Log_Write_Sonar();
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}
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/*
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ask airspeed sensor for a new value
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*/
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static void read_airspeed(void)
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{
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if (airspeed.enabled()) {
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airspeed.read();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Airspeed();
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}
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calc_airspeed_errors();
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}
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}
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static void zero_airspeed(void)
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{
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airspeed.calibrate();
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gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated"));
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}
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// read_battery - reads battery voltage and current and invokes failsafe
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// should be called at 10hz
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static void read_battery(void)
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{
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battery.read();
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if (!usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) {
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low_battery_event();
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}
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}
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// read the receiver RSSI as an 8 bit number for MAVLink
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// RC_CHANNELS_SCALED message
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void read_receiver_rssi(void)
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{
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// avoid divide by zero
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if (g.rssi_range <= 0) {
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receiver_rssi = 0;
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}else{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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}
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/*
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return current_loc.alt adjusted for ALT_OFFSET
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This is useful during long flights to account for barometer changes
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from the GCS, or to adjust the flying height of a long mission
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*/
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static int32_t adjusted_altitude_cm(void)
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{
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return current_loc.alt - (g.alt_offset*100);
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}
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