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123 lines
4.7 KiB
C
123 lines
4.7 KiB
C
/**
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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 airspeed sensors and return values
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* @{
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*
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* @file baro_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 "hwsettings.h"
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#include "airspeedsettings.h"
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#include "airspeedsensor.h" // object that will be updated by the module
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#include "airspeedalarm.h"
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#if defined(PIOS_INCLUDE_MPXV)
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#define CALIBRATION_IDLE_MS 2000 // Time to wait before calibrating, in [ms]
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#define CALIBRATION_COUNT_MS 2000 // Time to spend calibrating, in [ms]
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#define ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS 256 // low pass filter
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// Private types
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// Private variables
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// Private functions
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static uint16_t calibrationCount = 0;
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PIOS_MPXV_descriptor sensor = { .type = PIOS_MPXV_UNKNOWN };
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void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings, int8_t airspeedADCPin)
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{
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// Ensure that the ADC pin is properly configured
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if (airspeedADCPin < 0) {
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airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
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AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
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return;
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}
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if (sensor.type == PIOS_MPXV_UNKNOWN) {
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switch (airspeedSettings->AirspeedSensorType) {
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
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sensor = PIOS_MPXV_7002_DESC(airspeedADCPin);
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break;
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
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sensor = PIOS_MPXV_5004_DESC(airspeedADCPin);
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break;
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default:
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airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
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AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
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return;
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}
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}
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airspeedSensor->SensorValue = PIOS_MPXV_Measure(&sensor);
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if (!airspeedSettings->ZeroPoint) {
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AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
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// Calibrate sensor by averaging zero point value
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if (calibrationCount < CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) { // First let sensor warm up and stabilize.
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calibrationCount++;
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return;
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} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) { // Then compute the average.
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calibrationCount++; /*DO NOT MOVE FROM BEFORE sensorCalibration=... LINE, OR ELSE WILL HAVE DIVIDE BY ZERO */
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PIOS_MPXV_Calibrate(&sensor, airspeedSensor->SensorValue);
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// Set settings UAVO. The airspeed UAVO is set elsewhere in the function.
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if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
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airspeedSettings->ZeroPoint = sensor.zeroPoint;
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AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
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}
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return;
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}
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}
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sensor.zeroPoint = airspeedSettings->ZeroPoint;
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sensor.scale = airspeedSettings->Scale;
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// Filter CAS : airspeedSettings->SamplePeriod value is 0 - 255 range
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float alpha = 1 - (airspeedSettings->SamplePeriod / ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS); // Low pass filter.
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airspeedSensor->CalibratedAirspeed = PIOS_MPXV_CalcAirspeed(&sensor, airspeedSensor->SensorValue) * (alpha) + airspeedSensor->CalibratedAirspeed * (1.0f - alpha);
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airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
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AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
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}
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#endif /* if defined(PIOS_INCLUDE_MPXV) */
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/**
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* @}
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* @}
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*/
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