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114 lines
3.8 KiB
114 lines
3.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// Sensors are not available in HIL_MODE_ATTITUDE |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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static void ReadSCP1000(void) { |
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} |
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#if CONFIG_SONAR == ENABLED |
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static void init_sonar(void) |
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{ |
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC |
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sonar->calculate_scaler(g.sonar_type, 3.3); |
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#else |
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sonar->calculate_scaler(g.sonar_type, 5.0); |
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#endif |
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} |
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#endif |
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static void init_barometer(void) |
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{ |
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barometer.calibrate(); |
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ahrs.set_barometer(&barometer); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
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} |
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// return barometric altitude in centimeters |
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static int32_t read_barometer(void) |
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{ |
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barometer.read(); |
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return baro_filter.apply(barometer.get_altitude() * 100.0); |
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} |
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#endif // HIL_MODE != HIL_MODE_ATTITUDE |
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static void init_compass() |
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{ |
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compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft |
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if (!compass.init() || !compass.read()) { |
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// make sure we don't pass a broken compass to DCM |
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cliSerial->println_P(PSTR("COMPASS INIT ERROR")); |
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return; |
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} |
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ahrs.set_compass(&compass); |
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#if SECONDARY_DMP_ENABLED == ENABLED |
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ahrs2.set_compass(&compass); |
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#endif |
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} |
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static void init_optflow() |
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{ |
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#if OPTFLOW == ENABLED |
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if( optflow.init() == false ) { |
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g.optflow_enabled = false; |
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cliSerial->print_P(PSTR("\nFailed to Init OptFlow ")); |
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}else{ |
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// suspend timer while we set-up SPI communication |
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hal.scheduler->suspend_timer_procs(); |
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optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft |
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optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance |
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optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution |
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optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view |
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// resume timer |
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hal.scheduler->resume_timer_procs(); |
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} |
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#endif // OPTFLOW == ENABLED |
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} |
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// read_battery - check battery voltage and current and invoke failsafe if necessary |
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// called at 10hz |
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#define BATTERY_FS_COUNTER 100 // 100 iterations at 10hz is 10 seconds |
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static void read_battery(void) |
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{ |
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static uint8_t low_battery_counter = 0; |
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if(g.battery_monitoring == 0) { |
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battery_voltage1 = 0; |
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return; |
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} |
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if(g.battery_monitoring == 3 || g.battery_monitoring == 4) { |
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batt_volt_analog_source->set_pin(g.battery_volt_pin); |
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battery_voltage1 = BATTERY_VOLTAGE(batt_volt_analog_source->read_average()); |
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} |
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if(g.battery_monitoring == 4) { |
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batt_curr_analog_source->set_pin(g.battery_curr_pin); |
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current_amps1 = CURRENT_AMPS(batt_curr_analog_source->read_average()); |
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current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours) |
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} |
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// check for low voltage or current if the low voltage check hasn't already been triggered |
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if (!ap.low_battery && ( battery_voltage1 < g.low_voltage || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity))) { |
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low_battery_counter++; |
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if( low_battery_counter >= BATTERY_FS_COUNTER ) { |
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low_battery_counter = BATTERY_FS_COUNTER; // ensure counter does not overflow |
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low_battery_event(); |
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} |
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}else{ |
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// reset low_battery_counter in case it was a temporary voltage dip |
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low_battery_counter = 0; |
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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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rssi_analog_source->set_pin(g.rssi_pin); |
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float ret = rssi_analog_source->read_latest(); |
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receiver_rssi = constrain(ret, 0, 255); |
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}
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