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LibrePilot/flight/modules/Altitude/revolution/altitude.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AltitudeModule Altitude Module
* @brief Communicate with BMP085 and update @ref BaroSensor "BaroSensor UAV Object"
* @{
*
* @file altitude.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Altitude module, handles temperature and pressure readings from BMP085
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**
* Output object: BaroSensor
*
* This module will periodically update the value of the BaroSensor object.
*
*/
#include <openpilot.h>
#include "altitude.h"
#include "barosensor.h" // object that will be updated by the module
#include "revosettings.h"
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonaraltitude.h" // object that will be updated by the module
#endif
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 550
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
// Private types
// Private variables
static xTaskHandle taskHandle;
static RevoSettingsBaroTempCorrectionPolynomialData baroCorrection;
static RevoSettingsBaroTempCorrectionExtentData baroCorrectionExtent;
static volatile bool tempCorrectionEnabled;
// Private functions
static void altitudeTask(void *parameters);
static void SettingsUpdatedCb(UAVObjEvent *ev);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeStart()
{
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
{
BaroSensorInitialize();
RevoSettingsInitialize();
RevoSettingsConnectCallback(&SettingsUpdatedCb);
#if defined(PIOS_INCLUDE_HCSR04)
SonarAltitudeInitialize();
#endif
return 0;
}
MODULE_INITCALL(AltitudeInitialize, AltitudeStart);
/**
* Module thread, should not return.
*/
static void altitudeTask(__attribute__((unused)) void *parameters)
{
BaroSensorData data;
#if defined(PIOS_INCLUDE_HCSR04)
SonarAltitudeData sonardata;
int32_t value = 0, timeout = 10, sample_rate = 0;
float coeff = 0.25, height_out = 0, height_in = 0;
PIOS_HCSR04_Trigger();
#endif
// TODO: Check the pressure sensor and set a warning if it fails test
// Option to change the interleave between Temp and Pressure conversions
// Undef for normal operation
// #define PIOS_MS5611_SLOW_TEMP_RATE 20
RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
#ifdef PIOS_MS5611_SLOW_TEMP_RATE
uint8_t temp_press_interleave_count = 1;
#endif
// Main task loop
while (1) {
#if defined(PIOS_INCLUDE_HCSR04)
// Compute the current altitude
// depends on baro samplerate
if (!(sample_rate--)) {
if (PIOS_HCSR04_Completed()) {
value = PIOS_HCSR04_Get();
// from 3.4cm to 5.1m
if ((value > 100) && (value < 15000)) {
height_in = value * 0.00034f / 2.0f;
height_out = (height_out * (1 - coeff)) + (height_in * coeff);
sonardata.Altitude = height_out; // m/us
}
// Update the SonarAltitude UAVObject
SonarAltitudeSet(&sonardata);
timeout = 10;
PIOS_HCSR04_Trigger();
}
if (!(timeout--)) {
// retrigger
timeout = 10;
PIOS_HCSR04_Trigger();
}
sample_rate = 25;
}
#endif /* if defined(PIOS_INCLUDE_HCSR04) */
float temp, press;
#ifdef PIOS_MS5611_SLOW_TEMP_RATE
temp_press_interleave_count--;
if (temp_press_interleave_count == 0) {
#endif
// Update the temperature data
PIOS_MS5611_StartADC(TemperatureConv);
vTaskDelay(PIOS_MS5611_GetDelay());
PIOS_MS5611_ReadADC();
#ifdef PIOS_MS5611_SLOW_TEMP_RATE
temp_press_interleave_count = PIOS_MS5611_SLOW_TEMP_RATE;
}
#endif
// Update the pressure data
PIOS_MS5611_StartADC(PressureConv);
vTaskDelay(PIOS_MS5611_GetDelay());
PIOS_MS5611_ReadADC();
temp = PIOS_MS5611_GetTemperature();
press = PIOS_MS5611_GetPressure();
if (tempCorrectionEnabled) {
// pressure bias = A + B*t + C*t^2 + D * t^3
// in case the temperature is outside of the calibrated range, uses the nearest extremes
float ctemp = temp > baroCorrectionExtent.max ? baroCorrectionExtent.max :
(temp < baroCorrectionExtent.min ? baroCorrectionExtent.min : temp);
press -= baroCorrection.a + ((baroCorrection.d * ctemp + baroCorrection.c) * ctemp + baroCorrection.b) * ctemp;
}
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float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
if (!isnan(altitude)) {
data.Altitude = altitude;
data.Temperature = temp;
data.Pressure = press;
// Update the BasoSensor UAVObject
BaroSensorSet(&data);
}
}
}
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
RevoSettingsBaroTempCorrectionExtentGet(&baroCorrectionExtent);
tempCorrectionEnabled = !(baroCorrectionExtent.max - baroCorrectionExtent.min < 0.1f ||
(baroCorrection.a < 1e-9f && baroCorrection.b < 1e-9f && baroCorrection.c < 1e-9f && baroCorrection.d < 1e-9f));
}
/**
* @}
* @}
*/