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48 lines
1.4 KiB
48 lines
1.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#if CONFIG_SONAR == ENABLED |
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static void init_sonar(void) |
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{ |
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/* |
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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC |
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sonar.calculate_scaler(g.sonar_type, 3.3); |
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#else |
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sonar.calculate_scaler(g.sonar_type, 5.0); |
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#endif |
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*/ |
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} |
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#endif |
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#if LITE == DISABLED |
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// Sensors are not available in HIL_MODE_ATTITUDE |
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#if HIL_MODE != HIL_MODE_ATTITUDE |
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void ReadSCP1000(void) {} |
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#endif // HIL_MODE != HIL_MODE_ATTITUDE |
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#endif |
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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_voltage1 = 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_voltage1 = BATTERY_VOLTAGE(batt_volt_pin->read_average()); |
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} |
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if(g.battery_monitoring == 4) { |
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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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current_amps1 = CURRENT_AMPS(batt_curr_pin->read_average()); |
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current_total1 += current_amps1 * (float)delta_ms_medium_loop * 0.0002778; // .0002778 is 1/3600 (conversion to hours) |
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} |
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#if BATTERY_EVENT == ENABLED |
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if(battery_voltage1 < LOW_VOLTAGE) low_battery_event(); |
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if(g.battery_monitoring == 4 && current_total1 > g.pack_capacity) low_battery_event(); |
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#endif |
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} |
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