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118 lines
3.5 KiB
118 lines
3.5 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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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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#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, 3.3); |
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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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#endif |
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static void init_barometer(void) |
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{ |
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int flashcount = 0; |
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long ground_pressure = 0; |
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int ground_temperature; |
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while (ground_pressure == 0 || !barometer.healthy) { |
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barometer.read(); // Get initial data from absolute pressure sensor |
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ground_pressure = baro_filter.apply(barometer.get_pressure()); |
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//ground_pressure = barometer.get_pressure(); |
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ground_temperature = barometer.get_temperature(); |
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mavlink_delay(20); |
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//Serial.printf("barometer.Press %ld\n", barometer.get_pressure()); |
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} |
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for(int i = 0; i < 30; i++){ // We take some readings... |
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#if HIL_MODE == HIL_MODE_SENSORS |
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gcs_update(); // look for inbound hil packets |
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#endif |
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do { |
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barometer.read(); // Get pressure sensor |
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} while (!barometer.healthy); |
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ground_pressure = baro_filter.apply(barometer.get_pressure()); |
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//ground_pressure = (ground_pressure * 9l + barometer.get_pressure()) / 10l; |
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ground_temperature = (ground_temperature * 9 + barometer.get_temperature()) / 10; |
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mavlink_delay(20); |
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if(flashcount == 5) { |
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digitalWrite(C_LED_PIN, LED_OFF); |
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digitalWrite(A_LED_PIN, LED_ON); |
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digitalWrite(B_LED_PIN, LED_OFF); |
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} |
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if(flashcount >= 10) { |
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flashcount = 0; |
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digitalWrite(C_LED_PIN, LED_ON); |
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digitalWrite(A_LED_PIN, LED_OFF); |
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digitalWrite(B_LED_PIN, LED_ON); |
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} |
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flashcount++; |
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} |
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g.ground_pressure.set_and_save(ground_pressure); |
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g.ground_temperature.set_and_save(ground_temperature / 10.0f); |
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abs_pressure = ground_pressure; |
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Serial.printf_P(PSTR("abs_pressure %ld\n"), abs_pressure); |
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gcs_send_text_P(SEVERITY_MEDIUM, PSTR("barometer calibration complete.")); |
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} |
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static int32_t read_barometer(void) |
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{ |
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float x, scaling, temp; |
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barometer.read(); // Get new data from absolute pressure sensor |
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float abs_pressure = baro_filter.apply(barometer.get_pressure()); |
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//abs_pressure = (abs_pressure + barometer.get_pressure()) >> 1; // Small filtering |
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//abs_pressure = ((float)abs_pressure * .7) + ((float)barometer.get_pressure() * .3); // large filtering |
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scaling = (float)g.ground_pressure / (float)abs_pressure; |
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temp = ((float)g.ground_temperature) + 273.15f; |
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x = log(scaling) * temp * 29271.267f; |
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return (x / 10); |
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} |
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// in M/S * 100 |
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static void read_airspeed(void) |
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{ |
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} |
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static void zero_airspeed(void) |
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{ |
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} |
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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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battery_voltage1 = BATTERY_VOLTAGE(analogRead(BATTERY_PIN_1)) * .1 + battery_voltage1 * .9; |
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if(g.battery_monitoring == 4) { |
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current_amps1 = CURRENT_AMPS(analogRead(CURRENT_PIN_1)) * .1 + current_amps1 * .9; //reads power sensor current pin |
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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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