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59 lines
1.6 KiB
59 lines
1.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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/* |
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* analog airspeed driver |
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*/ |
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#include <AP_HAL.h> |
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#include <AP_Math.h> |
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#include <AP_Common.h> |
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#include <AP_ADC.h> |
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#include <AP_ADC_AnalogSource.h> |
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#include <AP_Airspeed.h> |
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extern const AP_HAL::HAL& hal; |
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// scaling for 3DR analog airspeed sensor |
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#define VOLTS_TO_PASCAL 819 |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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extern AP_ADC_ADS7844 apm1_adc; |
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#endif |
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bool AP_Airspeed_Analog::init() |
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{ |
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 |
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if (_pin == 64) { |
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_source = new AP_ADC_AnalogSource( &apm1_adc, 7, 1.0f); |
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return true; |
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} |
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#endif |
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_source = hal.analogin->channel(_pin); |
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return true; |
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} |
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// read the airspeed sensor |
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bool AP_Airspeed_Analog::get_differential_pressure(float &pressure) |
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{ |
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if (_source == NULL) { |
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return false; |
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} |
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_source->set_pin(_pin); |
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pressure = _source->voltage_average_ratiometric() * VOLTS_TO_PASCAL; |
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return true; |
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} |
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