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ACM: adapt the ArduCopter code for new barometer interface

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This commit is contained in:
Andrew Tridgell 2012-06-20 15:17:15 +10:00
parent 4fda89beb7
commit 7eb150a2f0
3 changed files with 6 additions and 62 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -629,10 +629,6 @@ static bool low_batt = false;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Altitude // Altitude
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// The pressure at home location - calibrated at arming
static int32_t ground_pressure;
// The ground temperature at home location - calibrated at arming
static int16_t ground_temperature;
// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP // The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
static int32_t altitude_error; static int32_t altitude_error;
// The cm/s we are moving up or down based on sensor data - Positive = UP // The cm/s we are moving up or down based on sensor data - Positive = UP

2
ArduCopter/GCS_Mavlink.pde
View File

@ -493,7 +493,7 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
chan, chan,
micros(), micros(),
(float)barometer.get_pressure()/100.0, (float)barometer.get_pressure()/100.0,
(float)(barometer.get_pressure()-ground_pressure)/100.0, (float)(barometer.get_pressure() - barometer.get_ground_pressure())/100.0,
(int)(barometer.get_temperature()*10)); (int)(barometer.get_temperature()*10));
} }

62
ArduCopter/sensors.pde
View File

@ -18,68 +18,16 @@ static void init_sonar(void)
static void init_barometer(void) static void init_barometer(void)
{ {
#if HIL_MODE == HIL_MODE_SENSORS barometer.calibrate(mavlink_delay);
gcs_update(); // look for inbound hil packets for initialization ahrs.set_barometer(&barometer);
#endif gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
ground_temperature = barometer.get_temperature();
int i;
// We take some readings...
for(i = 0; i < 60; i++){
delay(20);
// get new data from absolute pressure sensor
barometer.read();
//Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press);
}
for(i = 0; i < 40; i++){
delay(20);
#if HIL_MODE == HIL_MODE_SENSORS
gcs_update(); // look for inbound hil packets
#endif
// Get initial data from absolute pressure sensor
barometer.read();
ground_pressure = baro_filter.apply(barometer.get_pressure());
//Serial.printf("t: %ld, p: %d\n", ground_pressure, ground_temperature);
/*Serial.printf("init %d, %d, -, %d, %d, -, %d, %d\n",
barometer.RawTemp,
barometer.Temp,
barometer.RawPress,
barometer.Press,
ground_temperature,
ground_pressure);*/
}
// save our ground temp
ground_temperature = barometer.get_temperature();
}
static void reset_baro(void)
{
ground_pressure = baro_filter.apply(barometer.get_pressure());
ground_temperature = barometer.get_temperature();
} }
// return barometric altitude in centimeters
static int32_t read_barometer(void) static int32_t read_barometer(void)
{ {
float x, scaling, temp;
barometer.read(); barometer.read();
float abs_pressure = baro_filter.apply(barometer.get_pressure()); return baro_filter.apply(barometer.get_altitude() * 100.0);
//Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure);
scaling = (float)ground_pressure / abs_pressure;
temp = ((float)ground_temperature / 10.0f) + 273.15f;
x = log(scaling) * temp * 29271.267f;
return (x / 10);
} }