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109 lines
3.3 KiB
109 lines
3.3 KiB
#include "Sub.h" |
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// return barometric altitude in centimeters |
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void Sub::read_barometer() |
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{ |
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barometer.update(); |
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// If we are reading a positive altitude, the sensor needs calibration |
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// Even a few meters above the water we should have no significant depth reading |
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if(!motors.armed() && barometer.get_altitude() > 0) { |
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barometer.update_calibration(); |
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} |
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if (ap.depth_sensor_present) { |
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sensor_health.depth = barometer.healthy(depth_sensor_idx); |
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} |
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} |
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void Sub::init_rangefinder() |
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{ |
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#if RANGEFINDER_ENABLED == ENABLED |
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rangefinder.init(ROTATION_PITCH_270); |
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rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ); |
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rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270); |
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#endif |
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} |
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// return rangefinder altitude in centimeters |
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void Sub::read_rangefinder() |
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{ |
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#if RANGEFINDER_ENABLED == ENABLED |
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rangefinder.update(); |
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rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX)); |
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int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270); |
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#if RANGEFINDER_TILT_CORRECTION == ENABLED |
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// correct alt for angle of the rangefinder |
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temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z); |
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#endif |
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rangefinder_state.alt_cm = temp_alt; |
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// filter rangefinder for use by AC_WPNav |
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uint32_t now = AP_HAL::millis(); |
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if (rangefinder_state.alt_healthy) { |
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if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) { |
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// reset filter if we haven't used it within the last second |
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rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm); |
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} else { |
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rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f); |
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} |
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rangefinder_state.last_healthy_ms = now; |
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} |
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// send rangefinder altitude and health to waypoint navigation library |
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wp_nav.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get()); |
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circle_nav.set_rangefinder_alt(rangefinder_state.enabled && wp_nav.rangefinder_used(), rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get()); |
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#else |
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rangefinder_state.enabled = false; |
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rangefinder_state.alt_healthy = false; |
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rangefinder_state.alt_cm = 0; |
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#endif |
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} |
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// return true if rangefinder_alt can be used |
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bool Sub::rangefinder_alt_ok() |
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{ |
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return (rangefinder_state.enabled && rangefinder_state.alt_healthy); |
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} |
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/* |
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update RPM sensors |
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*/ |
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#if RPM_ENABLED == ENABLED |
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void Sub::rpm_update(void) |
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{ |
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rpm_sensor.update(); |
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if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) { |
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if (should_log(MASK_LOG_RCIN)) { |
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logger.Write_RPM(rpm_sensor); |
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} |
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} |
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} |
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#endif |
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// initialise optical flow sensor |
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#if OPTFLOW == ENABLED |
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void Sub::init_optflow() |
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{ |
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// initialise optical flow sensor |
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optflow.init(MASK_LOG_OPTFLOW); |
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} |
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#endif // OPTFLOW == ENABLED |
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void Sub::accel_cal_update() |
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{ |
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if (hal.util->get_soft_armed()) { |
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return; |
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} |
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ins.acal_update(); |
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// check if new trim values, and set them |
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float trim_roll, trim_pitch; |
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if (ins.get_new_trim(trim_roll, trim_pitch)) { |
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); |
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} |
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}
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