mirror of https://github.com/ArduPilot/ardupilot
79 lines
3.1 KiB
C++
79 lines
3.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_WindVane_config.h"
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#if AP_WINDVANE_MODERNDEVICE_ENABLED
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#include "AP_WindVane_ModernDevice.h"
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// read wind speed from Modern Device rev p wind sensor
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// https://moderndevice.com/news/calibrating-rev-p-wind-sensor-new-regression/
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_WindVane_ModernDevice::AP_WindVane_ModernDevice(AP_WindVane &frontend) :
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AP_WindVane_Backend(frontend)
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{
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_speed_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
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_temp_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE);
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}
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void AP_WindVane_ModernDevice::update_speed()
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{
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float analog_voltage = 0.0f;
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// only read temp pin if defined, sensor will do OK assuming constant temp
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float temp_ambient = 28.0f; // equations were generated at this temp in above data sheet
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if (is_positive(_frontend._speed_sensor_temp_pin.get())) {
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if (!_temp_analog_source->set_pin(_frontend._speed_sensor_temp_pin.get())) {
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// pin invalid, don't have health monitoring to report yet
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return;
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}
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analog_voltage = _temp_analog_source->voltage_average();
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temp_ambient = (analog_voltage - 0.4f) / 0.0195f; // deg C
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// constrain to reasonable range to avoid deviating from calibration too much and potential divide by zero
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temp_ambient = constrain_float(temp_ambient, 10.0f, 40.0f);
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}
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if (!_speed_analog_source->set_pin(_frontend._speed_sensor_speed_pin.get())) {
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// pin invalid, don't have health monitoring to report yet
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return;
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}
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_current_analog_voltage = _speed_analog_source->voltage_average();
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// apply voltage offset and make sure not negative
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// by default the voltage offset is the number provide by the manufacturer
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analog_voltage = _current_analog_voltage - _frontend._speed_sensor_voltage_offset;
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if (is_negative(analog_voltage)) {
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analog_voltage = 0.0f;
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}
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// simplified equation from data sheet, converted from mph to m/s
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_frontend._speed_apparent_raw = 24.254896f * powf((analog_voltage / powf(temp_ambient, 0.115157f)), 3.009364f);
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}
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void AP_WindVane_ModernDevice::calibrate()
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{
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "WindVane: rev P. zero wind voltage offset set to %.1f",double(_current_analog_voltage));
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_frontend._speed_sensor_voltage_offset.set_and_save(_current_analog_voltage);
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_frontend._calibration.set_and_save(0);
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}
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#endif // AP_WINDVANE_MODERNDEVICE_ENABLED
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