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84 lines
3.1 KiB
84 lines
3.1 KiB
/* |
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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_Analog.h" |
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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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#define WINDVANE_CALIBRATION_VOLT_DIFF_MIN 1.0f // calibration routine's min voltage difference required for success |
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#include <AP_HAL/AP_HAL.h> |
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extern const AP_HAL::HAL& hal; |
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// constructor |
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AP_WindVane_Analog::AP_WindVane_Analog(AP_WindVane &frontend) : |
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AP_WindVane_Backend(frontend) |
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{ |
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_dir_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE); |
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} |
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void AP_WindVane_Analog::update_direction() |
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{ |
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if (!_dir_analog_source->set_pin(_frontend._dir_analog_pin)) { |
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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 = _dir_analog_source->voltage_latest(); |
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const float voltage_ratio = linear_interpolate(0.0f, 1.0f, _current_analog_voltage, _frontend._dir_analog_volt_min, _frontend._dir_analog_volt_max); |
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const float direction = (voltage_ratio * radians(360 - _frontend._dir_analog_deadzone)) + radians(_frontend._dir_analog_bearing_offset); |
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_frontend._direction_apparent_raw = wrap_PI(direction); |
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} |
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void AP_WindVane_Analog::calibrate() |
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{ |
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// start calibration |
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if (_cal_start_ms == 0) { |
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_cal_start_ms = AP_HAL::millis(); |
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_cal_volt_max = _current_analog_voltage; |
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_cal_volt_min = _current_analog_voltage; |
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gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration started, rotate wind vane"); |
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} |
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// record min and max voltage |
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_cal_volt_max = MAX(_cal_volt_max, _current_analog_voltage); |
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_cal_volt_min = MIN(_cal_volt_min, _current_analog_voltage); |
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// calibrate for 30 seconds |
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if ((AP_HAL::millis() - _cal_start_ms) > 30000) { |
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// check for required voltage difference |
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const float volt_diff = _cal_volt_max - _cal_volt_min; |
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if (volt_diff >= WINDVANE_CALIBRATION_VOLT_DIFF_MIN) { |
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// save min and max voltage |
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_frontend._dir_analog_volt_max.set_and_save(_cal_volt_max); |
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_frontend._dir_analog_volt_min.set_and_save(_cal_volt_min); |
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gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration complete (volt min:%.1f max:%1.f)", |
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(double)_cal_volt_min, |
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(double)_cal_volt_max); |
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} else { |
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gcs().send_text(MAV_SEVERITY_INFO, "WindVane: Calibration failed (volt diff %.1f below %.1f)", |
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(double)volt_diff, |
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(double)WINDVANE_CALIBRATION_VOLT_DIFF_MIN); |
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} |
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_frontend._calibration.set_and_save(0); |
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_cal_start_ms = 0; |
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} |
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}
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