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144 lines
6.2 KiB
C
144 lines
6.2 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 "airspeed.h"
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#include "airspeedsettings.h"
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#include "baroairspeed.h" // object that will be updated by the module
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#if defined(PIOS_INCLUDE_MPXV7002) || defined (PIOS_INCLUDE_MPXV5004)
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#define SAMPLING_DELAY_MS_MPXV 10 //Update at 100Hz
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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 100.0f //Needs to be settable in a UAVO
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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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void baro_airspeedGetAnalog(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin){
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//Ensure that the ADC pin is properly configured
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if(airspeedADCPin <0){ //It's not, so revert to former sensor type
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baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
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return;
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}
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//Wait until our turn //THIS SHOULD BE, IF OUR TURN GO IN, OTHERWISE CONTINUE
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vTaskDelayUntil(lastSysTime, SAMPLING_DELAY_MS_MPXV / portTICK_RATE_MS);
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//Calibrate sensor by averaging zero point value //THIS SHOULD NOT BE DONE IF THERE IS AN IN-AIR RESET. HOW TO DETECT THIS?
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if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV) { //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)/SAMPLING_DELAY_MS_MPXV) { //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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uint16_t sensorCalibration;
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if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){
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sensorCalibration=PIOS_MPXV7002_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
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PIOS_MPXV7002_UpdateCalibration(sensorCalibration); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
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}
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else if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
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sensorCalibration=PIOS_MPXV5004_Calibrate(airspeedADCPin, calibrationCount-CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_MPXV);
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PIOS_MPXV5004_UpdateCalibration(sensorCalibration); //This makes sense for the user if the initial calibration was not good and the user does not wish to reboot.
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}
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baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_TRUE;
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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)/SAMPLING_DELAY_MS_MPXV)
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AirspeedSettingsZeroPointSet(&sensorCalibration);
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return;
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}
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//Get CAS
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float calibratedAirspeed=0;
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if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){
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calibratedAirspeed = PIOS_MPXV7002_ReadAirspeed(airspeedADCPin);
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if (calibratedAirspeed < 0) //This only occurs when there's a bad ADC reading.
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return;
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//Get sensor value, just for telemetry purposes.
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//This is a silly waste of resources, and should probably be removed at some point in the future.
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//At this time, PIOS_MPXV7002_Measure() should become a static function and be removed from the header file.
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//
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//Moreover, due to the way the ADC driver is currently written, this code will return 0 more often than
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//not. This is something that will have to change on the ADC side of things.
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baroAirspeedData->SensorValue=PIOS_MPXV7002_Measure(airspeedADCPin);
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}
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else if(airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
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calibratedAirspeed = PIOS_MPXV5004_ReadAirspeed(airspeedADCPin);
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if (calibratedAirspeed < 0) //This only occurs when there's a bad ADC reading.
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return;
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//Get sensor value, just for telemetry purposes.
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//This is a silly waste of resources, and should probably be removed at some point in the future.
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//At this time, PIOS_MPXV7002_Measure() should become a static function and be removed from the header file.
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//
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//Moreover, due to the way the ADC driver is currently written, this code will return 0 more often than
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//not. This is something that will have to change on the ADC side of things.
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baroAirspeedData->SensorValue=PIOS_MPXV5004_Measure(airspeedADCPin);
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}
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//Filter CAS
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float alpha=SAMPLING_DELAY_MS_MPXV/(SAMPLING_DELAY_MS_MPXV + ANALOG_BARO_AIRSPEED_TIME_CONSTANT_MS); //Low pass filter.
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float filteredAirspeed = calibratedAirspeed*(alpha) + baroAirspeedData->CalibratedAirspeed*(1.0f-alpha);
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//Set two values, one for the UAVO airspeed sensor reading, and the other for the GPS corrected one
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baroAirspeedData->CalibratedAirspeed = filteredAirspeed;
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}
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#endif
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/**
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* @}
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* @}
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*/
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