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67 lines
2.3 KiB
67 lines
2.3 KiB
/* |
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www.ArduCopter.com - www.DIYDrones.com |
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Copyright (c) 2010. All rights reserved. |
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An Open Source Arduino based multicopter. |
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File : Sensors.pde |
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Version : v1.0, Aug 27, 2010 |
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Author(s): ArduCopter Team |
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz, |
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Jani Hirvinen, Ken McEwans, Roberto Navoni, |
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Sandro Benigno, Chris Anderson |
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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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int readADC(byte channel) { |
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if (sensorSign[channel] < 0) |
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return (zeroADC[channel] - APM_ADC.Ch(channel)); |
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else |
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return (APM_ADC.Ch(channel) - zeroADC[channel]); |
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} |
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void calibrateSensors(void) { |
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int j = 0; |
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// Take the gyro offset values |
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for(int i=0;i<300;i++) { |
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for (channel = GYROZ; channel < LASTSENSOR; channel++) { |
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rawADC[channel] = APM_ADC.Ch(channel); |
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zeroADC[channel] = (zeroADC[channel] * 0.8) + (rawADC[channel] * 0.2); |
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Log_Write_Sensor(rawADC[GYROZ], rawADC[GYROX], rawADC[GYROY], rawADC[ACCELX], rawADC[ACCELY], rawADC[ACCELZ], receiverData[THROTTLE]); |
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} |
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delay(5); |
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// Runnings lights effect to let user know that we are taking mesurements |
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if(j == 0) { |
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digitalWrite(LED_Green, HIGH); |
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digitalWrite(LED_Yellow, LOW); |
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digitalWrite(LED_Red, LOW); |
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} |
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else if (j == 1) { |
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digitalWrite(LED_Green, LOW); |
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digitalWrite(LED_Yellow, HIGH); |
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digitalWrite(LED_Red, LOW); |
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} |
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else { |
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digitalWrite(LED_Green, LOW); |
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digitalWrite(LED_Yellow, LOW); |
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digitalWrite(LED_Red, HIGH); |
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} |
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if((i % 5) == 0) j++; |
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if(j >= 3) j = 0; |
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} |
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digitalWrite(LED_Green, LOW); |
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digitalWrite(LED_Yellow, LOW); |
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digitalWrite(LED_Red, LOW); |
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}
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