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101 lines
3.6 KiB
C
101 lines
3.6 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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#if defined(PIOS_INCLUDE_ETASV3)
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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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// 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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static uint16_t calibrationCount2 = 0;
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static uint32_t calibrationSum = 0;
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void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
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{
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// Check to see if airspeed sensor is returning airspeedSensor
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airspeedSensor->SensorValue = PIOS_ETASV3_ReadAirspeed();
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if (airspeedSensor->SensorValue == (uint16_t)-1) {
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airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
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airspeedSensor->CalibratedAirspeed = 0;
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return;
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}
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// only calibrate if no stored calibration is available
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if (!airspeedSettings->ZeroPoint) {
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// Calibrate sensor by averaging zero point value
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if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
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calibrationCount++;
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calibrationCount2++;
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return;
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} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
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calibrationCount++;
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calibrationCount2++;
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calibrationSum += airspeedSensor->SensorValue;
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if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
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airspeedSettings->ZeroPoint = (int16_t)(((float)calibrationSum) / calibrationCount2);
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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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// Compute airspeed
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airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * sqrtf((float)abs(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint));
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airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
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}
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#endif /* if defined(PIOS_INCLUDE_ETASV3) */
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/**
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* @}
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* @}
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*/
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