548fc9debf
Trim is now called again on pitch and roll, now that trimming can be done with adc_offsets. Fixed setup::motors for x frame. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1505 f9c3cf11-9bcb-44bc-f272-b75c42450872
63 lines
2.0 KiB
Plaintext
63 lines
2.0 KiB
Plaintext
void ReadSCP1000(void) {}
|
|
|
|
|
|
void init_pressure_ground(void)
|
|
{
|
|
for(int i = 0; i < 300; i++){ // We take some readings...
|
|
delay(20);
|
|
APM_BMP085.Read(); // Get initial data from absolute pressure sensor
|
|
abs_pressure_ground = (abs_pressure_ground * 9l + APM_BMP085.Press) / 10l;
|
|
ground_temperature = (ground_temperature * 9 + APM_BMP085.Temp) / 10;
|
|
}
|
|
abs_pressure = APM_BMP085.Press;
|
|
}
|
|
|
|
void read_barometer(void){
|
|
float x, scaling, temp;
|
|
|
|
APM_BMP085.Read(); // Get new data from absolute pressure sensor
|
|
|
|
//abs_pressure = (abs_pressure + APM_BMP085.Press) >> 1; // Small filtering
|
|
abs_pressure = ((float)abs_pressure * .9) + ((float)APM_BMP085.Press * .1); // large filtering
|
|
scaling = (float)abs_pressure_ground / (float)abs_pressure;
|
|
temp = ((float)ground_temperature / 10.f) + 273.15;
|
|
x = log(scaling) * temp * 29271.267f;
|
|
current_loc.alt = (long)(x / 10) + home.alt + baro_offset; // Pressure altitude in centimeters
|
|
}
|
|
|
|
// in M/S * 100
|
|
void read_airspeed(void)
|
|
{
|
|
|
|
}
|
|
|
|
#if BATTERY_EVENT == 1
|
|
void read_battery(void)
|
|
{
|
|
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9;
|
|
battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9;
|
|
battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9;
|
|
battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9;
|
|
|
|
#if BATTERY_TYPE == 0
|
|
if(battery_voltage3 < LOW_VOLTAGE)
|
|
low_battery_event();
|
|
battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream
|
|
#endif
|
|
|
|
#if BATTERY_TYPE == 1
|
|
if(battery_voltage4 < LOW_VOLTAGE)
|
|
low_battery_event();
|
|
battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
|
|
|
|
void read_current(void)
|
|
{
|
|
current_voltage = CURRENT_VOLTAGE(analogRead(CURRENT_PIN1)) * .1 + battery_voltage1 * .9; //reads power sensor voltage pin
|
|
current_amps = CURRENT_AMPS(analogRead(CURRENT_PIN2)) * .1 + battery_voltage2 * .9; //reads power sensor current pin
|
|
}
|