You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
70 lines
2.3 KiB
70 lines
2.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
|
|
|
void ReadSCP1000(void) {} |
|
|
|
// Sensors are not available in HIL_MODE_ATTITUDE |
|
#if HIL_MODE != HIL_MODE_ATTITUDE |
|
|
|
void read_airpressure(void){ |
|
double x; |
|
|
|
pitot.Read(); // Get new data from absolute pressure sensor |
|
abs_press = pitot.Press; |
|
abs_press_filt = (abs_press); // + 2l * abs_press_filt) / 3l; // Light filtering |
|
//temperature = (temperature * 9 + temp_unfilt) / 10; We will just use the ground temp for the altitude calculation |
|
|
|
double p = (double)abs_press_gnd / (double)abs_press_filt; |
|
double temp = (float)ground_temperature / 10.f + 273.15f; |
|
x = log(p) * temp * 29271.267f; |
|
//x = log(p) * temp * 29.271267 * 1000; |
|
press_alt = (long)(x / 10) + ground_alt; // Pressure altitude in centimeters |
|
// Need to add comments for theory..... |
|
} |
|
|
|
// in M/S * 100 |
|
void read_airspeed(void) |
|
{ |
|
#if GPS_PROTOCOL != GPS_PROTOCOL_IMU // Xplane will supply the airspeed |
|
airpressure_raw = ((float)adc.Ch(AIRSPEED_CH) * .25) + (airpressure_raw * .75); |
|
airpressure = (int)airpressure_raw - airpressure_offset; |
|
airpressure = max(airpressure, 0); |
|
airspeed = sqrt((float)airpressure * get(PARAM_ARSPD_RATIO)) * 100; |
|
#endif |
|
|
|
calc_airspeed_errors(); |
|
} |
|
|
|
void zero_airspeed(void) |
|
{ |
|
airpressure_raw = (float)adc.Ch(AIRSPEED_CH); |
|
for(int c = 0; c < 50; c++){ |
|
delay(20); |
|
airpressure_raw = (airpressure_raw * .90) + ((float)adc.Ch(AIRSPEED_CH) * .10); |
|
} |
|
airpressure_offset = airpressure_raw; |
|
} |
|
|
|
#endif // HIL_MODE != HIL_MODE_ATTITUDE |
|
|
|
#if BATTERY_EVENT == 1 |
|
void read_battery(void) |
|
{ |
|
battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN1)) * .1 + battery_voltage1 * .9; |
|
battery_voltage2 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN2)) * .1 + battery_voltage2 * .9; |
|
battery_voltage3 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN3)) * .1 + battery_voltage3 * .9; |
|
battery_voltage4 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN4)) * .1 + battery_voltage4 * .9; |
|
|
|
#if BATTERY_TYPE == 0 |
|
if(battery_voltage3 < LOW_VOLTAGE) |
|
low_battery_event(); |
|
battery_voltage = battery_voltage3; // set total battery voltage, for telemetry stream |
|
#endif |
|
|
|
#if BATTERY_TYPE == 1 |
|
if(battery_voltage4 < LOW_VOLTAGE) |
|
low_battery_event(); |
|
battery_voltage = battery_voltage4; // set total battery voltage, for telemetry stream |
|
#endif |
|
} |
|
#endif |
|
|
|
|