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Add parameters for external barometer.

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jaxxzer 2016-01-18 23:19:04 -05:00 committed by Rustom Jehangir
parent c6cc215dde
commit 8a4bf63ea4
2 changed files with 31 additions and 2 deletions
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30
libraries/AP_Baro/AP_Baro.cpp
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@ -67,6 +67,24 @@ const AP_Param::GroupInfo AP_Baro::var_info[] = {
// @Description: This selects which barometer will be the primary if multiple barometers are found
// @Values: 0:FirstBaro,1:2ndBaro,2:3rdBaro
AP_GROUPINFO("PRIMARY", 6, AP_Baro, _primary_baro, 0),
// @Param: SPEC_GRAV
// @DisplayName: ROV ONLY Specific Gravity
// @Description: This sets the specific gravity of the fluid when flying an underwater ROV. Set to 1.0 for freshwater or 1.024 for saltwater
// @Values: 1.0:Fresh Water, 1.024:Salt Water
AP_GROUPINFO("SPEC_GRAV", 7, AP_Baro, _specific_gravity, 1.0),
// @Param: BASE_PRESS
// @DisplayName: ROV ONLY Base Pressure
// @Description: Base diving pressure set this to zero to get new pressure on boot, set to value other than zero to set ground pressure for every boot thereafter.
// @Units: pascals
AP_GROUPINFO("BASE_PRESS", 8, AP_Baro, _base_pressure, 0.0),
// @Param: BASE_RESET
// @DisplayName: ROV ONLY Reset Base Pressure
// @Description: Set to 1 to reset base pressure on next boot
// @Values: 0:Keep, 1:Reset
AP_GROUPINFO("BASE_RESET", 9, AP_Baro, _reset_base_pressure, 0),
AP_GROUPEND
};
@ -150,7 +168,15 @@ void AP_Baro::calibrate()
if (count[i] == 0) {
sensors[i].calibrated = false;
} else {
sensors[i].ground_pressure.set_and_save(sum_pressure[i] / count[i]);
if(sensors[i].type == BARO_TYPE_AIR) {
sensors[i].ground_pressure.set_and_save(sum_pressure[i] / count[i]);
} else { // for a water pressure sensor, we will only recalibrate on boot, if the BASE_RESET parameter is set
if(_reset_base_pressure) {
_base_pressure.set_and_save(sum_pressure[i] / count[i]);
_reset_base_pressure.set_and_save(0);
}
sensors[i].ground_pressure.set_and_save(_base_pressure);
}
sensors[i].ground_temperature.set_and_save(sum_temperature[i] / count[i]);
}
}
@ -378,7 +404,7 @@ void AP_Baro::update(void)
} else if(sensors[i].type == BARO_TYPE_WATER) {
//101325Pa is sea level air pressure, 10052 Pascal/ m depth in water.
//No temperature or depth compensation for density of water.
altitude = (sensors[i].ground_pressure - sensors[i].pressure) * sensors[i].precision_multiplier / 10052.0f;
altitude = (sensors[i].ground_pressure - sensors[i].pressure) * sensors[i].precision_multiplier / 9800.0f / _specific_gravity;
}
// sanity check altitude
sensors[i].alt_ok = !(isnan(altitude) || isinf(altitude));

3
libraries/AP_Baro/AP_Baro.h
View File

@ -163,6 +163,9 @@ private:
uint32_t _last_external_temperature_ms;
DerivativeFilterFloat_Size7 _climb_rate_filter;
bool _hil_mode:1;
AP_Float _specific_gravity; // the specific gravity of fluid for an ROV 1.00 for freshwater, 1.024 for salt water
AP_Float _base_pressure; // the ground_pressure for a water pressure sensor is persistent
AP_Int8 _reset_base_pressure; // reset the _base_pressure for a water pressure sensor on next boot
// when did we last notify the GCS of new pressure reference?
uint32_t _last_notify_ms;