mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
109 lines
3.9 KiB
C
109 lines
3.9 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup AirspeedModule Airspeed Module
|
|
* @brief Communicate with airspeed sensors and return values
|
|
* @{
|
|
*
|
|
* @file baro_airspeed.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Airspeed 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: BaroAirspeed
|
|
*
|
|
* This module will periodically update the value of the BaroAirspeed object.
|
|
*
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
#include "hwsettings.h"
|
|
#include "airspeedsettings.h"
|
|
#include "airspeedsensor.h" // object that will be updated by the module
|
|
#include "airspeedalarm.h"
|
|
|
|
#if defined(PIOS_INCLUDE_ETASV3)
|
|
|
|
#define CALIBRATION_IDLE_MS 2000 // Time to wait before calibrating, in [ms]
|
|
#define CALIBRATION_COUNT_MS 2000 // Time to spend calibrating, in [ms]
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
|
|
// Private functions
|
|
|
|
static uint16_t calibrationCount = 0;
|
|
static uint16_t calibrationCount2 = 0;
|
|
static uint32_t calibrationSum = 0;
|
|
|
|
|
|
void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
|
|
{
|
|
// Check to see if airspeed sensor is returning airspeedSensor
|
|
airspeedSensor->SensorValue = PIOS_ETASV3_ReadAirspeed();
|
|
if (airspeedSensor->SensorValue == (uint16_t)-1) {
|
|
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
|
|
airspeedSensor->CalibratedAirspeed = 0;
|
|
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
|
|
return;
|
|
}
|
|
|
|
// only calibrate if no stored calibration is available
|
|
if (!airspeedSettings->ZeroPoint) {
|
|
AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
|
|
// Calibrate sensor by averaging zero point value
|
|
if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
|
|
calibrationCount++;
|
|
calibrationSum = 0;
|
|
calibrationCount2 = 0;
|
|
return;
|
|
} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
|
|
calibrationCount++;
|
|
calibrationCount2++;
|
|
calibrationSum += airspeedSensor->SensorValue;
|
|
if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
|
|
airspeedSettings->ZeroPoint = (int16_t)(((float)calibrationSum) / calibrationCount2);
|
|
AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
|
|
calibrationCount = 0;
|
|
calibrationSum = 0;
|
|
calibrationCount2 = 0;
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
|
|
// Compute airspeed
|
|
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * sqrtf((float)abs(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint));
|
|
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
|
|
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
|
|
}
|
|
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_ETASV3) */
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|