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Merge branch 'james/revolution' into stac/etasv3
This commit is contained in:
Corvus Corax
commit
cf3f0b4226
145
flight/Modules/Airspeed/revolution/airspeed.c
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145
flight/Modules/Airspeed/revolution/airspeed.c
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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 AirspeedModule Airspeed Module
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* @brief Communicate with BMP085 and update @ref BaroAirspeed "BaroAirspeed UAV Object"
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* @{
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*
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* @file airspeed.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Airspeed 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: BaroAirspeed
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*
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* This module will periodically update the value of the BaroAirspeed object.
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*
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*/
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#include "openpilot.h"
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#include "airspeed.h"
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#include "baroairspeed.h" // object that will be updated by the module
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#if defined(PIOS_INCLUDE_HCSR04)
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#include "sonarairspeed.h" // object that will be updated by the module
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#endif
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// Private constants
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#define STACK_SIZE_BYTES 500
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#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void airspeedTask(void *parameters);
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static bool airspeedEnabled = false;
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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 AirspeedStart()
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{
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if (airspeedEnabled == false) {
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return -1;
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}
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// Start main task
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xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(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 AirspeedInitialize()
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{
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#ifdef MODULE_AIRSPEED_BUILTIN
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airspeedEnabled = true;
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#else
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HwSettingsInitialize();
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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airspeedEnabled = true;
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} else {
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airspeedEnabled = false;
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return -1;
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}
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#endif
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BaroAirspeedInitialize();
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return 0;
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}
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MODULE_INITCALL(AirspeedInitialize, AirspeedStart)
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/**
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* Module thread, should not return.
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*/
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static void airspeedTask(void *parameters)
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{
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BaroAirspeedData data;
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// TODO: Check the pressure sensor and set a warning if it fails test
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// Main task loop
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while (1)
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{
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float temp, press;
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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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// 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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data.Temperature = temp;
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data.Pressure = press;
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data.Airspeed = 44330.0f * (1.0f - powf(data.Pressure / MS5611_P0, (1.0f / 5.255f)));
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// Update the AirspeedActual UAVObject
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BaroAirspeedSet(&data);
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}
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}
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/**
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* @}
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* @}
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*/
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41
flight/Modules/Airspeed/revolution/inc/airspeed.h
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41
flight/Modules/Airspeed/revolution/inc/airspeed.h
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@ -0,0 +1,41 @@
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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 AirspeedModule Airspeed Module
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* @brief Communicate with EagleTree Airspeed Sensor and update @ref BaroAirspeed "BaroAirspeed UAV Object"
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* @{
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*
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* @file airspeed.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Airspeed 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 AIRSPEED_H
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#define AIRSPEED_H
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int32_t AirspeedInitialize();
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#endif // AIRSPEED_H
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/**
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* @}
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* @}
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*/
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12
shared/uavobjectdefinition/baroairspeed.xml
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12
shared/uavobjectdefinition/baroairspeed.xml
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@ -0,0 +1,12 @@
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<xml>
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<object name="BaroAirspeed" singleinstance="true" settings="false">
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<description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description>
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<field name="Airspeed" units="m/s" type="float" elements="1"/>
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<field name="Temperature" units="C" type="float" elements="1"/>
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<field name="Pressure" units="kPa" type="float" elements="1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<logging updatemode="never" period="0"/>
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</object>
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</xml>
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@ -19,7 +19,7 @@
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<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
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<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
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<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/>
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<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/>
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<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
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<access gcs="readwrite" flight="readwrite"/>
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