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102 lines
2.8 KiB
102 lines
2.8 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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// filter altitude from the barometer with a low pass filter |
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static LowPassFilterInt32 altitude_filter; |
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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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// filter at 100ms sampling, with 0.7Hz cutoff frequency |
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altitude_filter.set_cutoff_frequency(0.1, 0.7); |
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
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} |
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// read the barometer and return the updated altitude in centimeters |
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// above the calibration altitude |
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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 altitude_filter.apply(barometer.get_altitude() * 100.0); |
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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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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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static void read_battery(void) |
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{ |
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if(g.battery_monitoring == 0) { |
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battery.voltage = 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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// this copes with changing the pin at runtime |
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batt_volt_pin->set_pin(g.battery_volt_pin); |
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battery.voltage = BATTERY_VOLTAGE(batt_volt_pin); |
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} |
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if (g.battery_monitoring == 4) { |
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uint32_t tnow = hal.scheduler->millis(); |
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float dt = tnow - battery.last_time_ms; |
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// this copes with changing the pin at runtime |
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batt_curr_pin->set_pin(g.battery_curr_pin); |
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battery.current_amps = CURRENT_AMPS(batt_curr_pin); |
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if (battery.last_time_ms != 0 && dt < 2000) { |
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// .0002778 is 1/3600 (conversion to hours) |
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battery.current_total_mah += battery.current_amps * dt * 0.0002778f; |
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} |
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battery.last_time_ms = tnow; |
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} |
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if (!usb_connected && |
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battery.voltage != 0 && |
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g.fs_batt_voltage > 0 && |
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battery.voltage < g.fs_batt_voltage) { |
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low_battery_event(); |
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} |
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if (!usb_connected && |
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g.battery_monitoring == 4 && |
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g.fs_batt_mah > 0 && |
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g.pack_capacity - battery.current_total_mah < 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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rssi_analog_source->set_pin(g.rssi_pin); |
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float ret = rssi_analog_source->voltage_average() * 50; |
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receiver_rssi = constrain_int16(ret, 0, 255); |
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} |
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/* |
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return current_loc.alt adjusted for ALT_OFFSET |
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This is useful during long flights to account for barometer changes |
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from the GCS, or to adjust the flying height of a long mission |
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*/ |
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static int32_t adjusted_altitude_cm(void) |
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{ |
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return current_loc.alt - (g.alt_offset*100); |
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}
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