You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
105 lines
2.9 KiB
105 lines
2.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
// Sensors are not available in HIL_MODE_ATTITUDE |
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
|
|
static void ReadSCP1000(void) {} |
|
|
|
#if CONFIG_SONAR == ENABLED |
|
static void init_sonar(void) |
|
{ |
|
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC |
|
sonar.calculate_scaler(g.sonar_type, 3.3); |
|
#else |
|
sonar.calculate_scaler(g.sonar_type, 5.0); |
|
#endif |
|
} |
|
#endif |
|
|
|
static void init_barometer(void) |
|
{ |
|
barometer.calibrate(mavlink_delay); |
|
ahrs.set_barometer(&barometer); |
|
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
|
} |
|
|
|
// return barometric altitude in centimeters |
|
static int32_t read_barometer(void) |
|
{ |
|
barometer.read(); |
|
return baro_filter.apply(barometer.get_altitude() * 100.0); |
|
} |
|
|
|
|
|
#endif // HIL_MODE != HIL_MODE_ATTITUDE |
|
|
|
static void init_compass() |
|
{ |
|
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft |
|
if (!compass.init() || !compass.read()) { |
|
// make sure we don't pass a broken compass to DCM |
|
Serial.println_P(PSTR("COMPASS INIT ERROR")); |
|
return; |
|
} |
|
ahrs.set_compass(&compass); |
|
} |
|
|
|
static void init_optflow() |
|
{ |
|
#ifdef OPTFLOW_ENABLED |
|
if( optflow.init(false) == false ) { |
|
g.optflow_enabled = false; |
|
SendDebug("\nFailed to Init OptFlow "); |
|
} |
|
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft |
|
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance |
|
optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution |
|
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view |
|
// setup timed read of sensor |
|
//timer_scheduler.register_process(&AP_OpticalFlow::read); |
|
#endif |
|
} |
|
|
|
static void read_battery(void) |
|
{ |
|
|
|
if(g.battery_monitoring == 0){ |
|
battery_voltage1 = 0; |
|
return; |
|
} |
|
|
|
if(g.battery_monitoring == 3 || g.battery_monitoring == 4) { |
|
static AP_AnalogSource_Arduino bat_pin(BATTERY_PIN_1); |
|
battery_voltage1 = BATTERY_VOLTAGE(bat_pin.read_average()); |
|
} |
|
if(g.battery_monitoring == 4) { |
|
static AP_AnalogSource_Arduino current_pin(CURRENT_PIN_1); |
|
current_amps1 = CURRENT_AMPS(current_pin.read_average()); |
|
current_total1 += current_amps1 * 0.02778; // called at 100ms on average, .0002778 is 1/3600 (conversion to hours) |
|
} |
|
|
|
#if BATTERY_EVENT == ENABLED |
|
//if(battery_voltage < g.low_voltage) |
|
// low_battery_event(); |
|
|
|
if((battery_voltage1 < g.low_voltage) || (g.battery_monitoring == 4 && current_total1 > g.pack_capacity)){ |
|
low_battery_event(); |
|
|
|
#if COPTER_LEDS == ENABLED |
|
if ( bitRead(g.copter_leds_mode, 3) ){ // Only Activate if a battery is connected to avoid alarm on USB only |
|
if (battery_voltage1 > 1){ |
|
piezo_on(); |
|
}else{ |
|
piezo_off(); |
|
} |
|
} |
|
|
|
|
|
}else if ( bitRead(g.copter_leds_mode, 3) ){ |
|
piezo_off(); |
|
#endif // COPTER_LEDS |
|
} |
|
#endif //BATTERY_EVENT |
|
} |
|
|
|
//v: 10.9453, a: 17.4023, mah: 8.2
|
|
|