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113 lines
3.9 KiB
C
113 lines
3.9 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_ETASV3)
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#define SAMPLING_DELAY_MS_ETASV3 50 //Update at 20Hz
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#define ETS_AIRSPEED_SCALE 1.0f //???
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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_airspeedGetETASV3(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin){
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static uint32_t calibrationSum = 0;
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AirspeedSettingsData airspeedSettingsData;
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AirspeedSettingsGet(&airspeedSettingsData);
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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_ETASV3 / portTICK_RATE_MS);
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//Check to see if airspeed sensor is returning baroAirspeedData
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baroAirspeedData->SensorValue = PIOS_ETASV3_ReadAirspeed();
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if (baroAirspeedData->SensorValue==-1) {
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baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
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baroAirspeedData->CalibratedAirspeed = 0;
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BaroAirspeedSet(&baroAirspeedData);
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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 (!airspeedSettingsData.ZeroPoint) {
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//Calibrate sensor by averaging zero point value
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if (calibrationCount <= CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_ETASV3) {
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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_ETASV3) {
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calibrationCount++;
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calibrationSum += baroAirspeedData->SensorValue;
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if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
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airspeedSettingsData.ZeroPoint = (int16_t) (((float)calibrationSum) / CALIBRATION_COUNT_MS +0.5f);
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AirspeedSettingsZeroPointSet( &airspeedSettingsData.ZeroPoint );
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} else {
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return;
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}
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}
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}
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//Compute airspeed
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float calibratedAirspeed = ETS_AIRSPEED_SCALE * sqrtf((float)abs(baroAirspeedData->SensorValue - airspeedSettingsData.ZeroPoint)); //Is this calibrated or indicated airspeed?
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baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_TRUE;
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baroAirspeedData->CalibratedAirspeed = calibratedAirspeed;
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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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