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Code Issues Releases Activity

OP-1273 Adaptations to include MS4525DO PixHawk speed sensor

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This commit is contained in:
Andrés Chavarría Krauser 2014-03-25 09:18:25 +01:00
parent 4512798213
commit f8f53d8801
7 changed files with 22 additions and 1 deletions
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7
flight/modules/Airspeed/airspeed.c
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@ -41,6 +41,7 @@
#include "hwsettings.h" #include "hwsettings.h"
#include "airspeedsettings.h" #include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module #include "airspeedsensor.h" // object that will be updated by the module
#include "baro_airspeed_ms4525do.h"
#include "baro_airspeed_etasv3.h" #include "baro_airspeed_etasv3.h"
#include "baro_airspeed_mpxv.h" #include "baro_airspeed_mpxv.h"
#include "gps_airspeed.h" #include "gps_airspeed.h"
@ -165,6 +166,12 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Eagletree Airspeed v3 // Eagletree Airspeed v3
baro_airspeedGetETASV3(&airspeedData, &airspeedSettings); baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
break; break;
#endif
#if defined(PIOS_INCLUDE_MS4525DO)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
// PixHawk Airpeed based on MS4525DO
baro_airspeedGetMS4525DO(&airspeedData, &airspeedSettings);
break;
#endif #endif
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION: case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
gps_airspeedGet(&airspeedData, &airspeedSettings); gps_airspeedGet(&airspeedData, &airspeedSettings);

6
flight/pios/pios.h
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@ -229,6 +229,12 @@
#include <pios_etasv3.h> #include <pios_etasv3.h>
#endif #endif
#ifdef PIOS_INCLUDE_MS4525DO
/* PixHawk Airspeed Sensor based on MS4525DO */
#include <pios_ms4525do.h>
#endif
#ifdef PIOS_INCLUDE_HCSR04 #ifdef PIOS_INCLUDE_HCSR04
/* HC-SR04 Ultrasonic Sensor */ /* HC-SR04 Ultrasonic Sensor */
#include <pios_hcsr04.h> #include <pios_hcsr04.h>

2
flight/targets/boards/revolution/firmware/inc/pios_config.h
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@ -87,6 +87,8 @@
#define PIOS_INCLUDE_MS5611 #define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_MPXV #define PIOS_INCLUDE_MPXV
#define PIOS_INCLUDE_ETASV3 #define PIOS_INCLUDE_ETASV3
#define PIOS_INCLUDE_MS4525DO
/* #define PIOS_INCLUDE_HCSR04 */ /* #define PIOS_INCLUDE_HCSR04 */
/* PIOS receiver drivers */ /* PIOS receiver drivers */

1
flight/targets/boards/revolution/pios_board.h
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@ -125,6 +125,7 @@ extern uint32_t pios_i2c_mag_pressure_adapter_id;
extern uint32_t pios_i2c_flexiport_adapter_id; extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id) #define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER) #define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
// ------------------------- // -------------------------
// PIOS_USART // PIOS_USART

1
make/apps-defs.mk
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@ -69,6 +69,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_mpu6000.c SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_mpxv.c SRC += $(PIOSCOMMON)/pios_mpxv.c
SRC += $(PIOSCOMMON)/pios_ms4525do.c
SRC += $(PIOSCOMMON)/pios_ms5611.c SRC += $(PIOSCOMMON)/pios_ms5611.c
SRC += $(PIOSCOMMON)/pios_oplinkrcvr.c SRC += $(PIOSCOMMON)/pios_oplinkrcvr.c
SRC += $(PIOSCOMMON)/pios_video.c SRC += $(PIOSCOMMON)/pios_video.c

4
shared/uavobjectdefinition/airspeedsensor.xml
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@ -3,7 +3,11 @@
<description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description> <description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description>
<field name="SensorConnected" units="" type="enum" elements="1" options="False,True"/> <field name="SensorConnected" units="" type="enum" elements="1" options="False,True"/>
<field name="SensorValue" units="raw" type="uint16" elements="1"/> <field name="SensorValue" units="raw" type="uint16" elements="1"/>
<field name="SensorValueTemperature" units="raw" type="uint16" elements="1"/>
<field name="DifferentialPressure" units="Pa" type="float" elements="1"/>
<field name="Temperature" units="K" type="float" elements="1"/>
<field name="CalibratedAirspeed" units="m/s" type="float" elements="1"/> <field name="CalibratedAirspeed" units="m/s" type="float" elements="1"/>
<field name="TrueAirspeed" units="m/s" type="float" elements="1" defaultvalue="-1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>

2
shared/uavobjectdefinition/airspeedsettings.xml
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@ -4,7 +4,7 @@
<field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/> <field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
<field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/> <field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
<field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/> <field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation" defaultvalue="DIYDronesMPXV7002"/> <field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation" defaultvalue="DIYDronesMPXV7002"/>
<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" /> <field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>