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121 lines
3.3 KiB
121 lines
3.3 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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#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC |
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sonar->calculate_scaler(g.sonar_type, 3.3f); |
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#else |
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sonar->calculate_scaler(g.sonar_type, 5.0f); |
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#endif |
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} |
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#endif |
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static void init_barometer(bool full_calibration) |
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{ |
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gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer")); |
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if (full_calibration) { |
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barometer.calibrate(); |
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}else{ |
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barometer.update_calibration(); |
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} |
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gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); |
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} |
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// return barometric altitude in centimeters |
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static int32_t read_barometer(void) |
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{ |
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barometer.read(); |
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if (g.log_bitmask & MASK_LOG_IMU) { |
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Log_Write_Baro(); |
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} |
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return barometer.get_altitude() * 100.0f; |
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} |
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// return sonar altitude in centimeters |
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static int16_t read_sonar(void) |
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{ |
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#if CONFIG_SONAR == ENABLED |
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// exit immediately if sonar is disabled |
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if( !g.sonar_enabled ) { |
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sonar_alt_health = 0; |
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return 0; |
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} |
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int16_t temp_alt = sonar->read(); |
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if (temp_alt >= sonar->min_distance && temp_alt <= sonar->max_distance * SONAR_RELIABLE_DISTANCE_PCT) { |
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if ( sonar_alt_health < SONAR_ALT_HEALTH_MAX ) { |
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sonar_alt_health++; |
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} |
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}else{ |
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sonar_alt_health = 0; |
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} |
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#if SONAR_TILT_CORRECTION == 1 |
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// correct alt for angle of the sonar |
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float temp = ahrs.cos_pitch() * ahrs.cos_roll(); |
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temp = max(temp, 0.707f); |
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temp_alt = (float)temp_alt * temp; |
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#endif |
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return temp_alt; |
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#else |
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return 0; |
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#endif |
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} |
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static void init_compass() |
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{ |
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if (!compass.init() || !compass.read()) { |
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// make sure we don't pass a broken compass to DCM |
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cliSerial->println_P(PSTR("COMPASS INIT ERROR")); |
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Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE); |
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return; |
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} |
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ahrs.set_compass(&compass); |
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} |
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static void init_optflow() |
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{ |
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#if OPTFLOW == ENABLED |
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optflow.init(); |
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if (!optflow.healthy()) { |
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g.optflow_enabled = false; |
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cliSerial->print_P(PSTR("Failed to Init OptFlow\n")); |
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Log_Write_Error(ERROR_SUBSYSTEM_OPTFLOW,ERROR_CODE_FAILED_TO_INITIALISE); |
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} |
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#endif // OPTFLOW == ENABLED |
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} |
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// read_battery - check battery voltage and current and invoke failsafe if necessary |
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// called at 10hz |
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static void read_battery(void) |
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{ |
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battery.read(); |
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// update compass with current value |
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if (battery.monitoring() == AP_BATT_MONITOR_VOLTAGE_AND_CURRENT) { |
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compass.set_current(battery.current_amps()); |
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} |
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// check for low voltage or current if the low voltage check hasn't already been triggered |
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// we only check when we're not powered by USB to avoid false alarms during bench tests |
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if (!ap.usb_connected && !failsafe.battery && battery.exhausted(g.fs_batt_voltage, g.fs_batt_mah)) { |
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failsafe_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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// avoid divide by zero |
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if (g.rssi_range <= 0) { |
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receiver_rssi = 0; |
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}else{ |
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rssi_analog_source->set_pin(g.rssi_pin); |
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range; |
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receiver_rssi = constrain_int16(ret, 0, 255); |
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} |
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}
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