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LibrePilot/flight/modules/Airspeed/baro_airspeed_etasv3.c

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Communicate with airspeed sensors and return values
* @{
*
* @file baro_airspeed.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Airspeed 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: BaroAirspeed
*
* This module will periodically update the value of the BaroAirspeed object.
*
*/
#include "openpilot.h"
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "airspeedalarm.h"
#if defined(PIOS_INCLUDE_ETASV3)
#define CALIBRATION_IDLE_MS 2000 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 2000 // Time to spend calibrating, in [ms]
// Private types
// Private variables
// Private functions
static uint16_t calibrationCount = 0;
static uint16_t calibrationCount2 = 0;
static uint32_t calibrationSum = 0;
void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
// Check to see if airspeed sensor is returning airspeedSensor
airspeedSensor->SensorValue = PIOS_ETASV3_ReadAirspeed();
if (airspeedSensor->SensorValue == (uint16_t)-1) {
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
airspeedSensor->CalibratedAirspeed = 0;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
return;
}
// only calibrate if no stored calibration is available
if (!airspeedSettings->ZeroPoint) {
AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
// Calibrate sensor by averaging zero point value
if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
calibrationCount++;
calibrationSum = 0;
calibrationCount2 = 0;
return;
} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
calibrationCount++;
calibrationCount2++;
calibrationSum += airspeedSensor->SensorValue;
if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
airspeedSettings->ZeroPoint = (int16_t)(((float)calibrationSum) / calibrationCount2);
AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
calibrationCount = 0;
calibrationSum = 0;
calibrationCount2 = 0;
}
return;
}
}
// Compute airspeed
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * sqrtf((float)abs(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint));
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
}
#endif /* if defined(PIOS_INCLUDE_ETASV3) */
/**
* @}
* @}
*/