Get the pressure sensor working and reading into Revolution

flight/Modules/Altitude/revolution/altitude.c

@@ -0,0 +1,174 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup AltitudeModule Altitude Module
+ * @brief Communicate with BMP085 and update @ref BaroAltitude "BaroAltitude 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: BaroAltitude
+ *
+ * This module will periodically update the value of the BaroAltitude object.
+ *
+ */
+
+#include "openpilot.h"
+#include "altitude.h"
+#include "baroaltitude.h"	// object that will be updated by the module
+#if defined(PIOS_INCLUDE_HCSR04)
+#include "sonaraltitude.h"	// object that will be updated by the module
+#endif
+
+// Private constants
+#define STACK_SIZE_BYTES 500
+#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
+//#define UPDATE_PERIOD 100
+#define UPDATE_PERIOD 25
+
+// Private types
+
+// Private variables
+static xTaskHandle taskHandle;
+
+// down sampling variables
+#define alt_ds_size    4
+static int32_t alt_ds_temp = 0;
+static int32_t alt_ds_pres = 0;
+static int alt_ds_count = 0;
+
+// Private functions
+static void altitudeTask(void *parameters);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AltitudeStart()
+{
+	
+	BaroAltitudeInitialize();
+#if defined(PIOS_INCLUDE_HCSR04)
+	SonarAltitudeInitialze();
+#endif
+	
+	// Start main task
+	xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
+
+	return 0;
+}
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t AltitudeInitialize()
+{
+
+	// init down-sampling data
+	alt_ds_temp = 0;
+	alt_ds_pres = 0;
+	alt_ds_count = 0;
+	
+	return 0;
+}
+MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
+/**
+ * Module thread, should not return.
+ */
+static void altitudeTask(void *parameters)
+{
+	BaroAltitudeData data;
+	portTickType lastSysTime;
+	
+#if defined(PIOS_INCLUDE_HCSR04)
+	SonarAltitudeData sonardata;
+	int32_t value=0,timeout=5;
+	float coeff=0.25,height_out=0,height_in=0;
+	PIOS_HCSR04_Init();
+	PIOS_HCSR04_Trigger();
+#endif
+
+	// TODO: Check the pressure sensor and set a warning if it fails test
+	
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	while (1)
+	{
+#if defined(PIOS_INCLUDE_HCSR04)
+		// Compute the current altitude (all pressures in kPa)
+		if(PIOS_HCSR04_Completed())
+		{
+			value = PIOS_HCSR04_Get();
+			if((value>100) && (value < 15000)) //from 3.4cm to 5.1m
+			{
+				height_in = value*0.00034;
+				height_out = (height_out * (1 - coeff)) + (height_in * coeff);
+				sonardata.Altitude = height_out; // m/us
+			}
+			
+			// Update the AltitudeActual UAVObject
+			SonarAltitudeSet(&sonardata);
+			timeout=5;
+			PIOS_HCSR04_Trigger();
+		}
+		if(timeout--)
+		{
+			//retrigger
+			timeout=5;
+			PIOS_HCSR04_Trigger();
+		}
+#endif
+		float temp, press;
+		
+		// Update the temperature data
+		PIOS_MS5611_StartADC(TemperatureConv);
+		vTaskDelay(5);
+		PIOS_MS5611_ReadADC();
+		
+		// Update the pressure data
+		PIOS_MS5611_StartADC(PressureConv);
+		vTaskDelay(5);
+		PIOS_MS5611_ReadADC();
+
+		
+		temp = PIOS_MS5611_GetTemperature();
+		press = PIOS_MS5611_GetPressure();
+		
+		data.Temperature = temp;
+		data.Pressure = press;
+		data.Altitude = 44330.0f * (1.0f - powf(data.Pressure / MS5611_P0, (1.0f / 5.255f)));
+	
+		// Update the AltitudeActual UAVObject
+		BaroAltitudeSet(&data);
+	}
+}
+
+/**
+ * @}
+ * @}
+ */

flight/Modules/Altitude/revolution/inc/altitude.h

@@ -0,0 +1,41 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup AltitudeModule Altitude Module
+ * @brief Communicate with BMP085 and update @ref AltitudeActual "AltitudeActual UAV Object"
+ * @{ 
+ *
+ * @file       altitude.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Altitude module, reads temperature and pressure 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
+ */
+#ifndef ALTITUDE_H
+#define ALTITUDE_H
+
+int32_t AltitudeInitialize();
+
+#endif // ALTITUDE_H
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/STM32F4xx/pios_ms5611.c

@@ -0,0 +1,250 @@
+/**
+  ******************************************************************************
+  * @addtogroup PIOS PIOS Core hardware abstraction layer
+  * @{
+  * @addtogroup PIOS_BMP085 BMP085 Functions
+  * @brief Hardware functions to deal with the altitude pressure sensor
+  * @{
+  *
+  * @file       pios_ms5611.c  
+  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+  * @brief      MS5611 Pressure Sensor Routines
+  * @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
+ */
+
+/* Project Includes */
+// TODO: Clean this up.  Getting around old constant.
+#define PIOS_MS5611_OVERSAMPLING oversampling
+
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_MS5611)
+
+/* Glocal Variables */
+ConversionTypeTypeDef CurrentRead;
+
+/* Local Variables */
+MS5611CalibDataTypeDef CalibData;
+
+/* Straight from the datasheet */
+static int32_t X1, X2, X3, B3, B5, B6, P;
+static uint32_t B4, B7;
+static volatile int32_t RawTemperature;
+static volatile int32_t RawPressure;
+static volatile float Pressure;
+static volatile float Temperature;
+
+static int32_t PIOS_MS5611_Read(uint8_t address, uint8_t * buffer, uint8_t len);
+static int32_t PIOS_MS5611_WriteCommand(uint8_t command);
+
+// Move into proper driver structure with cfg stored
+static uint32_t oversampling;
+static const struct pios_ms5611_cfg * dev_cfg;
+static int32_t i2c_id;
+
+/**
+* Initialise the BMP085 sensor
+*/
+int32_t ms5611_read_flag;
+void PIOS_MS5611_Init(const struct pios_ms5611_cfg * cfg, int32_t i2c_device)
+{
+	i2c_id = i2c_device;
+
+	oversampling = cfg->oversampling;
+	dev_cfg = cfg;	// Store cfg before enabling interrupt
+
+	PIOS_MS5611_WriteCommand(MS5611_RESET);
+	PIOS_DELAY_WaitmS(20);			
+
+	uint8_t data[2];
+
+	/* Calibration parameters */
+	for (int i = 0; i < 6; i++) {
+		PIOS_MS5611_Read(MS5611_CALIB_ADDR + i * 2, data, 2);
+		CalibData.C[i] = (data[0] << 8) | data[1];
+	}
+}
+
+/**
+* Start the ADC conversion
+* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
+* \return 0 for success, -1 for failure (conversion completed and not read)
+*/
+int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type)
+{
+	/* Start the conversion */
+	if (Type == TemperatureConv) {
+		while (PIOS_MS5611_WriteCommand(MS5611_TEMP_ADDR) != 0)
+			continue;
+	} else if (Type == PressureConv) {
+		while (PIOS_MS5611_WriteCommand(MS5611_PRES_ADDR) != 0)
+			continue;
+	}
+
+	CurrentRead = Type;
+	
+	return 0;
+}
+
+/**
+* Read the ADC conversion value (once ADC conversion has completed)
+* \param[in] PresOrTemp BMP085_PRES_ADDR or BMP085_TEMP_ADDR
+* \return 0 if successfully read the ADC, -1 if failed
+*/
+int32_t PIOS_MS5611_ReadADC(void)
+{
+	uint8_t Data[3];
+	Data[0] = 0;
+	Data[1] = 0;
+	Data[2] = 0;
+
+	static float dT;
+	/* Read and store the 16bit result */
+	if (CurrentRead == TemperatureConv) {
+		/* Read the temperature conversion */
+		if (PIOS_MS5611_Read(MS5611_ADC_READ, Data, 3) != 0)
+			return -1;
+
+		RawTemperature = (Data[0] << 16) | (Data[1] << 8) | Data[2];
+		
+		dT = RawTemperature - CalibData.C[4] * (1 << 8);
+		Temperature = 2000 + dT * CalibData.C[5] / (1<<23);
+		Temperature /= 100.0f;
+
+	} else {	
+		float Offset;
+		float  Sens;
+
+		/* Read the pressure conversion */
+		if (PIOS_MS5611_Read(MS5611_ADC_READ, Data, 3) != 0)
+			return -1;
+		RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]);
+		
+		Offset = (float) CalibData.C[1] * (1<<16) +(float) CalibData.C[3] * (float) dT / (1<<7);
+		Sens = (float) CalibData.C[0] * (1<<15) + ((float) CalibData.C[2] * (float) dT) / (1<<8);
+		
+		Pressure = (RawPressure * Sens / (1<<21) - Offset) / (1<<15);
+		Pressure /= 1000.0f;
+	}
+	return 0;
+}
+
+/**
+ * Return the most recently computed temperature in kPa
+ */
+float PIOS_MS5611_GetTemperature(void)
+{
+	return Temperature;
+}
+
+/**
+ * Return the most recently computed pressure in kPa
+ */
+float PIOS_MS5611_GetPressure(void)
+{
+	return Pressure;
+}
+
+/**
+* Reads one or more bytes into a buffer
+* \param[in] the command indicating the address to read
+* \param[out] buffer destination buffer
+* \param[in] len number of bytes which should be read
+* \return 0 if operation was successful
+* \return -1 if error during I2C transfer
+*/
+int32_t PIOS_MS5611_Read(uint8_t address, uint8_t * buffer, uint8_t len)
+{
+
+	const struct pios_i2c_txn txn_list[] = {
+		{
+			.info = __func__,
+			.addr = MS5611_I2C_ADDR,
+			.rw = PIOS_I2C_TXN_WRITE,
+			.len = 1,
+			.buf = &address,
+		}
+		,
+		{
+		 .info = __func__,
+		 .addr = MS5611_I2C_ADDR,
+		 .rw = PIOS_I2C_TXN_READ,
+		 .len = len,
+		 .buf = buffer,
+		 }
+	};
+
+	return PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list));
+}
+
+/**
+* Writes one or more bytes to the MS5611
+* \param[in] address Register address
+* \param[in] buffer source buffer
+* \return 0 if operation was successful
+* \return -1 if error during I2C transfer
+*/
+int32_t PIOS_MS5611_WriteCommand(uint8_t command)
+{
+	const struct pios_i2c_txn txn_list[] = {
+		{
+		 .info = __func__,
+		 .addr = MS5611_I2C_ADDR,
+		 .rw = PIOS_I2C_TXN_WRITE,
+		 .len = 1,
+		 .buf = &command,
+		 }
+		,
+	};
+
+	return PIOS_I2C_Transfer(i2c_id, txn_list, NELEMENTS(txn_list));
+}
+
+/**
+* @brief Run self-test operation.
+* \return 0 if self-test succeed, -1 if failed
+*/
+int32_t PIOS_MS5611_Test()
+{
+	// TODO: Is there a better way to test this than just checking that pressure/temperature has changed?
+	int32_t cur_value = 0;
+
+	cur_value = Temperature;
+	PIOS_MS5611_StartADC(TemperatureConv);
+	PIOS_DELAY_WaitmS(5);
+	PIOS_MS5611_ReadADC();
+	if (cur_value == Temperature)
+		return -1;
+
+	cur_value=Pressure;
+	PIOS_MS5611_StartADC(PressureConv);
+	PIOS_DELAY_WaitmS(26);
+	PIOS_MS5611_ReadADC();
+	if (cur_value == Pressure)
+		return -1;
+	
+	return 0;
+}
+
+#endif
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/inc/pios_ms5611.h

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_BMP085 BMP085 Functions
+ * @brief Hardware functions to deal with the altitude pressure sensor
+ * @{
+ *
+ * @file       pios_ms5611.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      MS5611 functions header.
+ * @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
+ */
+
+#ifndef PIOS_MS5611_H
+#define PIOS_MS5611_H
+
+#include <pios.h>
+
+/* BMP085 Addresses */
+#define MS5611_I2C_ADDR	        0x77
+#define MS5611_RESET            0x1E
+#define MS5611_CALIB_ADDR		0xA2  /* First sample is factory stuff */
+#define MS5611_CALIB_LEN		16
+#define MS5611_ADC_READ		    0x00
+#define MS5611_PRES_ADDR		0x40
+#define MS5611_TEMP_ADDR		0x50
+#define MS5611_ADC_MSB			0xF6
+#define MS5611_P0			    101.3250f
+
+/* Local Types */
+typedef struct {
+	uint16_t C[6];
+} MS5611CalibDataTypeDef;
+
+typedef enum {
+	PressureConv,
+	TemperatureConv
+} ConversionTypeTypeDef;
+
+struct pios_ms5611_cfg {
+	uint32_t oversampling;
+};
+
+/* Public Functions */
+extern void PIOS_MS5611_Init(const struct pios_ms5611_cfg * cfg, int32_t i2c_device);
+extern int32_t PIOS_MS5611_StartADC(ConversionTypeTypeDef Type);
+extern int32_t PIOS_MS5611_ReadADC(void);
+extern float PIOS_MS5611_GetTemperature(void);
+extern float PIOS_MS5611_GetPressure(void);
+extern int32_t PIOS_MS5611_Test();
+
+#endif /* PIOS_MS5611_H */
+
+/** 
+  * @}
+  * @}
+  */

flight/PiOS/pios.h

@@ -125,6 +125,9 @@
 #if defined(PIOS_INCLUDE_MPU6000)
 #include <pios_mpu6000.h>
 #endif
+#if defined(PIOS_INCLUDE_MS5611)
+#include <pios_ms5611.h>
+#endif
 #include <pios_iap.h>
 
 #if defined(PIOS_INCLUDE_ADXL345)

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -3338,10 +3338,13 @@
 		65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; };
 		65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_priv.h; sourceTree = "<group>"; };
 		65FAA03F133B669400F6F5CD /* GTOP_BIN.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = GTOP_BIN.c; sourceTree = "<group>"; };
+		65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = receiveractivity.xml; sourceTree = "<group>"; };
 		65FAB8FC1480DA19000FF8B2 /* pios_dsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_dsm.c; sourceTree = "<group>"; };
 		65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_pwm.c; sourceTree = "<group>"; };
 		65FAB8FE1481A5C5000FF8B2 /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; };
-		65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = receiveractivity.xml; sourceTree = "<group>"; };
+		65FAB9071481F9F6000FF8B2 /* pios_ms5611.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_ms5611.c; sourceTree = "<group>"; };
+		65FAB9091482072E000FF8B2 /* altitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = altitude.c; sourceTree = "<group>"; };
+		65FAB90B1482072E000FF8B2 /* altitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = altitude.h; sourceTree = "<group>"; };
 		65FBE14412E7C98100176B5A /* pios_servo_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_servo_priv.h; sourceTree = "<group>"; };
 		65FC66AA123F30F100B04F74 /* ahrs_timer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs_timer.c; path = ../../AHRS/ahrs_timer.c; sourceTree = SOURCE_ROOT; };
 		65FC66AB123F312A00B04F74 /* ahrs_timer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_timer.h; sourceTree = "<group>"; };
@@ -3476,6 +3479,7 @@
 		650D8E2812DFE16400D05CC9 /* Altitude */ = {
 			isa = PBXGroup;
 			children = (
+				65FAB9081482072E000FF8B2 /* revolution */,
 				650D8E2912DFE16400D05CC9 /* altitude.c */,
 				650D8E2A12DFE16400D05CC9 /* inc */,
 			);
@@ -3886,6 +3890,7 @@
 				65904ED114613B6100FD9482 /* pios_led.c */,
 				6534B5581474F7B1003DF47C /* pios_mpu6000.c */,
 				65FA9B7A14709E700019A260 /* pios_mpu6050.c */,
+				65FAB9071481F9F6000FF8B2 /* pios_ms5611.c */,
 				65904ED214613B6100FD9482 /* pios_ppm.c */,
 				65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */,
 				65FAB8FE1481A5C5000FF8B2 /* pios_rtc.c */,
@@ -9218,6 +9223,24 @@
 			path = inc;
 			sourceTree = "<group>";
 		};
+		65FAB9081482072E000FF8B2 /* revolution */ = {
+			isa = PBXGroup;
+			children = (
+				65FAB9091482072E000FF8B2 /* altitude.c */,
+				65FAB90A1482072E000FF8B2 /* inc */,
+			);
+			name = revolution;
+			path = Revolution;
+			sourceTree = "<group>";
+		};
+		65FAB90A1482072E000FF8B2 /* inc */ = {
+			isa = PBXGroup;
+			children = (
+				65FAB90B1482072E000FF8B2 /* altitude.h */,
+			);
+			path = inc;
+			sourceTree = "<group>";
+		};
 		65FF4BB313791C3300146BE4 /* Bootloaders */ = {
 			isa = PBXGroup;
 			children = (

flight/Revolution/Makefile

@@ -49,7 +49,7 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES = Telemetry Attitude/revolution ManualControl Stabilization Actuator
+MODULES = Telemetry Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator
 PYMODULES = 
 #FlightPlan
 

flight/Revolution/System/inc/pios_config.h

@@ -53,9 +53,11 @@
 #define PIOS_INCLUDE_USART
 //#define PIOS_INCLUDE_USB_HID
 
+/* Select the sensors to include */
 #define PIOS_INCLUDE_BMA180
 #define PIOS_INCLUDE_HMC5883
 #define PIOS_INCLUDE_MPU6000
+#define PIOS_INCLUDE_MS5611
 
 //#define PIOS_INCLUDE_HCSR04
 #define PIOS_INCLUDE_COM

flight/Revolution/System/pios_board.c

@@ -1426,6 +1426,11 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
 
 };
 
+#include "pios_ms5611.h"
+static const struct pios_ms5611_cfg pios_ms5611_cfg = {
+	.oversampling = 1,
+};
+
 #include "pios_bma180.h"
 static const struct pios_bma180_cfg pios_bma180_cfg = {
 	.drdy = {
@@ -1660,6 +1665,8 @@ void PIOS_Board_Init(void) {
 	PIOS_BMA180_Init(&pios_bma180_cfg);
 
 	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
+	
+	PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
 }
 
 /**