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100 lines
2.9 KiB
100 lines
2.9 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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static void init_barometer(void) |
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{ |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer")); |
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barometer.calibrate(); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
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} |
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static void init_rangefinder(void) |
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{ |
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rangefinder.init(); |
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} |
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/* |
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read the rangefinder and update height estimate |
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*/ |
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static void read_rangefinder(void) |
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{ |
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rangefinder.update(); |
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uint16_t distance_cm = rangefinder.distance_cm(); |
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int16_t max_distance_cm = rangefinder.max_distance_cm(); |
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if (rangefinder.healthy() && distance_cm < max_distance_cm) { |
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// correct the range for attitude (multiply by DCM.c.z, which |
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// is cos(roll)*cos(pitch)) |
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float corrected_range = distance_cm * 0.01f * ahrs.get_dcm_matrix().c.z; |
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if (rangefinder_state.in_range_count == 0) { |
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// we've just come back into range, start with this value |
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rangefinder_state.height_estimate = corrected_range; |
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} else { |
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// low pass filter to reduce noise. This runs at 50Hz, so |
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// converges fast. We don't want too much filtering |
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// though, as it would introduce lag which would delay flaring |
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rangefinder_state.height_estimate = 0.75f * rangefinder_state.height_estimate + 0.25f * corrected_range; |
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} |
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// we consider ourselves to be fully in range when we have 10 |
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// good samples (0.2s) |
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if (rangefinder_state.in_range_count < 10) { |
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rangefinder_state.in_range_count++; |
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} else { |
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rangefinder_state.in_range = true; |
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} |
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} else { |
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rangefinder_state.in_range_count = 0; |
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rangefinder_state.in_range = false; |
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} |
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if (should_log(MASK_LOG_SONAR)) |
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Log_Write_Sonar(); |
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} |
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/* |
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ask airspeed sensor for a new value |
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*/ |
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static void read_airspeed(void) |
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{ |
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if (airspeed.enabled()) { |
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airspeed.read(); |
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if (should_log(MASK_LOG_IMU)) { |
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Log_Write_Airspeed(); |
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} |
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calc_airspeed_errors(); |
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} |
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} |
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static void zero_airspeed(void) |
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{ |
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airspeed.calibrate(); |
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gcs_send_text_P(SEVERITY_LOW,PSTR("zero airspeed calibrated")); |
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} |
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// read_battery - reads battery voltage and current and invokes failsafe |
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// should be called at 10hz |
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static void read_battery(void) |
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{ |
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battery.read(); |
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compass.set_current(battery.current_amps()); |
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if (!usb_connected && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) { |
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low_battery_event(); |
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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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// avoid divide by zero |
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if (g.rssi_range <= 0) { |
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receiver_rssi = 0; |
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}else{ |
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rssi_analog_source->set_pin(g.rssi_pin); |
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range; |
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receiver_rssi = constrain_int16(ret, 0, 255); |
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} |
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} |
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