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OP-1658 - Fix some headers, remove unused files
This commit is contained in:
Alessio Morale
parent
857cead7c7
commit
85335d62a9
@ -6,7 +6,7 @@
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* @{
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*
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* @file vectors.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Reuseable vector data type and functions
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*
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* @see The GNU Public License (GPL) Version 3
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@ -1,223 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup AltitudeModule Altitude Module
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* @brief Communicate with BMP085 and update @ref BaroSensor "BaroSensor UAV Object"
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* @{
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*
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* @file altitude.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Altitude module, handles temperature and pressure readings from BMP085
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Output object: BaroSensor
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*
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* This module will periodically update the value of the BaroSensor object.
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*
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*/
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#include <openpilot.h>
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#include "altitude.h"
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#include "barosensor.h" // object that will be updated by the module
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#include "revosettings.h"
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#include <mathmisc.h>
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#include <pios_ms5611.h>
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#if defined(PIOS_INCLUDE_HCSR04)
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#include <pios_hcsr04.h>
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#include "sonaraltitude.h" // object that will be updated by the module
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#endif
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#include "taskinfo.h"
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// Private constants
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#define STACK_SIZE_BYTES 550
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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// Interval in number of sample to recalculate temp bias
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#define TEMP_CALIB_INTERVAL 10
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// LPF
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#define TEMP_DT (1.0f / 120.0f)
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#define TEMP_LPF_FC 5.0f
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static const float temp_alpha = TEMP_DT / (TEMP_DT + 1.0f / (2.0f * M_PI_F * TEMP_LPF_FC));
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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static RevoSettingsBaroTempCorrectionPolynomialData baroCorrection;
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static RevoSettingsBaroTempCorrectionExtentData baroCorrectionExtent;
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static volatile bool tempCorrectionEnabled;
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static float baro_temp_bias = 0;
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static float baro_temperature = NAN;
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static uint8_t temp_calibration_count = 0;
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// Private functions
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static void altitudeTask(void *parameters);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AltitudeStart()
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{
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// Start main task
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xTaskCreate(altitudeTask, "Altitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
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return 0;
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AltitudeInitialize()
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{
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BaroSensorInitialize();
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RevoSettingsInitialize();
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RevoSettingsConnectCallback(&SettingsUpdatedCb);
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SettingsUpdatedCb(NULL);
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#if defined(PIOS_INCLUDE_HCSR04)
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SonarAltitudeInitialize();
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#endif
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return 0;
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}
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MODULE_INITCALL(AltitudeInitialize, AltitudeStart);
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/**
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* Module thread, should not return.
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*/
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static void altitudeTask(__attribute__((unused)) void *parameters)
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{
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BaroSensorData data;
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#if defined(PIOS_INCLUDE_HCSR04)
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SonarAltitudeData sonardata;
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int32_t value = 0, timeout = 10, sample_rate = 0;
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float coeff = 0.25, height_out = 0, height_in = 0;
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PIOS_HCSR04_Trigger();
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#endif
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// TODO: Check the pressure sensor and set a warning if it fails test
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// Option to change the interleave between Temp and Pressure conversions
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// Undef for normal operation
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// #define PIOS_MS5611_SLOW_TEMP_RATE 20
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RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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uint8_t temp_press_interleave_count = 1;
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#endif
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// Main task loop
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while (1) {
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#if defined(PIOS_INCLUDE_HCSR04)
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// Compute the current altitude
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// depends on baro samplerate
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if (!(sample_rate--)) {
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if (PIOS_HCSR04_Completed()) {
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value = PIOS_HCSR04_Get();
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// from 3.4cm to 5.1m
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if ((value > 100) && (value < 15000)) {
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height_in = value * 0.00034f / 2.0f;
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height_out = (height_out * (1 - coeff)) + (height_in * coeff);
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sonardata.Altitude = height_out; // m/us
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}
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// Update the SonarAltitude UAVObject
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SonarAltitudeSet(&sonardata);
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timeout = 10;
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PIOS_HCSR04_Trigger();
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}
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if (!(timeout--)) {
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// retrigger
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timeout = 10;
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PIOS_HCSR04_Trigger();
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}
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sample_rate = 25;
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}
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#endif /* if defined(PIOS_INCLUDE_HCSR04) */
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float temp, press;
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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temp_press_interleave_count--;
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if (temp_press_interleave_count == 0) {
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#endif
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// Update the temperature data
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PIOS_MS5611_StartADC(TemperatureConv);
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vTaskDelay(PIOS_MS5611_GetDelay());
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PIOS_MS5611_ReadADC();
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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temp_press_interleave_count = PIOS_MS5611_SLOW_TEMP_RATE;
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}
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#endif
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// Update the pressure data
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PIOS_MS5611_StartADC(PressureConv);
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vTaskDelay(PIOS_MS5611_GetDelay());
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PIOS_MS5611_ReadADC();
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temp = PIOS_MS5611_GetTemperature();
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press = PIOS_MS5611_GetPressure();
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if (isnan(baro_temperature)) {
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baro_temperature = temp;
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}
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baro_temperature = temp_alpha * (temp - baro_temperature) + baro_temperature;
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if (tempCorrectionEnabled && !temp_calibration_count) {
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temp_calibration_count = TEMP_CALIB_INTERVAL;
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// pressure bias = A + B*t + C*t^2 + D * t^3
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// in case the temperature is outside of the calibrated range, uses the nearest extremes
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float ctemp = boundf(baro_temperature, baroCorrectionExtent.max, baroCorrectionExtent.min);
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baro_temp_bias = baroCorrection.a + ((baroCorrection.d * ctemp + baroCorrection.c) * ctemp + baroCorrection.b) * ctemp;
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}
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press -= baro_temp_bias;
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float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
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if (!isnan(altitude)) {
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data.Altitude = altitude;
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data.Temperature = temp;
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data.Pressure = press;
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// Update the BasoSensor UAVObject
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BaroSensorSet(&data);
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}
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}
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}
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static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
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RevoSettingsBaroTempCorrectionExtentGet(&baroCorrectionExtent);
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tempCorrectionEnabled = !(baroCorrectionExtent.max - baroCorrectionExtent.min < 0.1f ||
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(baroCorrection.a < 1e-9f && baroCorrection.b < 1e-9f && baroCorrection.c < 1e-9f && baroCorrection.d < 1e-9f));
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}
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/**
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* @}
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* @}
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*/
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@ -1,41 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup AltitudeModule Altitude Module
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* @brief Communicate with BMP085 and update @ref AltitudeActual "AltitudeActual UAV Object"
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* @{
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*
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* @file altitude.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Altitude module, reads temperature and pressure from BMP085
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef ALTITUDE_H
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#define ALTITUDE_H
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int32_t AltitudeInitialize();
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#endif // ALTITUDE_H
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/**
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* @}
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* @}
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*/
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@ -2,16 +2,17 @@
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup Sensors Sensors Module
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* @addtogroup Sensors
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* @brief Acquires sensor data
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* @{
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*
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* @file attitude.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* @brief Acquires sensor data and fuses it into attitude estimate for CC
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* @file sensors.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Module to handle fetch and preprocessing of sensor data
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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******************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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@ -4,12 +4,11 @@
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* @{
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* @addtogroup Sensors
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* @brief Acquires sensor data
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* Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
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* @{
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*
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* @file sensors.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to handle all comms to the AHRS on a periodic basis.
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Module to handle fetch and preprocessing of sensor data
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*
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* @see The GNU Public License (GPL) Version 3
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*
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