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386 lines
13 KiB
C
386 lines
13 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 Calculate airspeed from diverse sources and update @ref Airspeed "Airspeed UAV Object"
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* @{
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*
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* @file airspeed.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Airspeed module
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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 "gpsvelocity.h"
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#include "airspeedsettings.h"
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#include "gps_airspeed.h"
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#include "baroaltitude.h"
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#include "baroairspeed.h" // object that will be updated by the module
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#include "airspeedactual.h" // object that will be updated by the module
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#include "attitudeactual.h"
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#include "CoordinateConversions.h"
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#include "baro_airspeed_etasv3.h"
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#include "baro_airspeed_analog.h"
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// Private constants
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#if defined (PIOS_INCLUDE_GPS)
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#define GPS_AIRSPEED_PRESENT
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#endif
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#if defined (PIOS_INCLUDE_MPXV5004) || defined (PIOS_INCLUDE_MPXV7002) || defined (PIOS_INCLUDE_ETASV3)
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#define BARO_AIRSPEED_PRESENT
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#endif
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#if defined (GPS_AIRSPEED_PRESENT) && defined (BARO_AIRSPEED_PRESENT)
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#define STACK_SIZE_BYTES 700
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#elif defined (GPS_AIRSPEED_PRESENT)
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#define STACK_SIZE_BYTES 600
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#elif defined (BARO_AIRSPEED_PRESENT)
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#define STACK_SIZE_BYTES 550
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#else
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#define STACK_SIZE_BYTES 0
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#define NO_AIRSPEED_SENSOR_PRESENT
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
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#define SAMPLING_DELAY_MS_FALLTHROUGH 50 //Fallthrough update at 20Hz. The fallthrough runs faster than the GPS to ensure that we don't miss GPS updates because we're slightly out of sync
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#define GPS_AIRSPEED_BIAS_KP 0.01f //Needs to be settable in a UAVO
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#define GPS_AIRSPEED_BIAS_KI 0.01f //Needs to be settable in a UAVO
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#define GPS_AIRSPEED_TIME_CONSTANT_MS 500.0f //Needs to be settable in a UAVO
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#define BARO_TRUEAIRSPEED_TIME_CONSTANT_S 1.0f //Needs to be settable in a UAVO
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#define F_PI 3.141526535897932f
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#define DEG2RAD (F_PI/180.0f)
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#define T0 288.15f
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#define BARO_TEMPERATURE_OFFSET 5
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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static bool airspeedEnabled = false;
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volatile bool gpsNew = false;
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static uint8_t airspeedSensorType;
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static uint16_t gpsSamplePeriod_ms;
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#ifdef BARO_AIRSPEED_PRESENT
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static int8_t airspeedADCPin=-1;
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#endif
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// Private functions
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static void airspeedTask(void *parameters);
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void baro_airspeedGet(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin);
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static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev);
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#ifdef GPS_AIRSPEED_PRESENT
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static void GPSVelocityUpdatedCb(UAVObjEvent * ev);
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#endif
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AirspeedStart()
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{
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#if defined (NO_AIRSPEED_SENSOR_PRESENT)
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return -1;
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#endif
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//Check if module is enabled or not
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if (airspeedEnabled == false) {
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return -1;
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}
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// Start main task
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xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_AIRSPEED, taskHandle);
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return 0;
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AirspeedInitialize()
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{
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#ifdef MODULE_AIRSPEED_BUILTIN
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airspeedEnabled = true;
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#else
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HwSettingsInitialize();
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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airspeedEnabled = true;
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} else {
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airspeedEnabled = false;
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return -1;
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}
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#endif
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#ifdef BARO_AIRSPEED_PRESENT
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uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
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HwSettingsADCRoutingGet(adcRouting);
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//Determine if the barometric airspeed sensor is routed to an ADC pin
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for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
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if (adcRouting[i] == HWSETTINGS_ADCROUTING_ANALOGAIRSPEED) {
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airspeedADCPin = i;
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}
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}
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#endif
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BaroAirspeedInitialize();
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AirspeedActualInitialize();
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AirspeedSettingsInitialize();
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AirspeedSettingsConnectCallback(AirspeedSettingsUpdatedCb);
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return 0;
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}
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MODULE_INITCALL(AirspeedInitialize, AirspeedStart)
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/**
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* Module thread, should not return.
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*/
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static void airspeedTask(void *parameters)
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{
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AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
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BaroAirspeedData airspeedData;
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AirspeedActualData airspeedActualData;
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BaroAirspeedGet(&airspeedData);
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AirspeedActualGet(&airspeedActualData);
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airspeedData.BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
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#ifdef BARO_AIRSPEED_PRESENT
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portTickType lastGPSTime = xTaskGetTickCount(); //Time since last GPS-derived airspeed calculation
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portTickType lastLoopTime= xTaskGetTickCount(); //Time since last loop
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float airspeedErrInt=0;
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#endif
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//GPS airspeed calculation variables
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#ifdef GPS_AIRSPEED_PRESENT
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GPSVelocityConnectCallback(GPSVelocityUpdatedCb);
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gps_airspeedInitialize();
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#endif
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// Main task loop
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portTickType lastSysTime = xTaskGetTickCount();
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while (1)
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{
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// Update the airspeed object
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BaroAirspeedGet(&airspeedData);
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AirspeedActualGet(&airspeedActualData);
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#ifdef BARO_AIRSPEED_PRESENT
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float airspeed_tas_baro=0;
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if(airspeedSensorType!=AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GPSONLY){
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//Fetch calibrated airspeed from sensors
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baro_airspeedGet(&airspeedData, &lastSysTime, airspeedSensorType, airspeedADCPin);
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//Calculate true airspeed, not taking into account compressibility effects
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float baroTemperature;
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BaroAltitudeTemperatureGet(&baroTemperature);
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baroTemperature-=BARO_TEMPERATURE_OFFSET; //Do this just because we suspect that the board heats up relative to its surroundings. THIS IS BAD(tm)
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#ifdef GPS_AIRSPEED_PRESENT
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//GPS present, so use baro sensor to filter TAS
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airspeed_tas_baro=airspeedData.CalibratedAirspeed * sqrtf((baroTemperature+273.15)/T0) + airspeedErrInt * GPS_AIRSPEED_BIAS_KI;
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#else
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//No GPS, so TAS comes only from baro sensor
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airspeedData.TrueAirspeed=airspeedData.CalibratedAirspeed * sqrtf((baroTemperature+273.15)/T0) + airspeedErrInt * GPS_AIRSPEED_BIAS_KI;
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#endif
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}
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else
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#endif
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{ //Have to catch the fallthrough, or else this loop will monopolize the processor!
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airspeedData.BaroConnected=BAROAIRSPEED_BAROCONNECTED_FALSE;
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airspeedData.SensorValue=12345;
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//Likely, we have a GPS, so let's configure the fallthrough at close to GPS refresh rates
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vTaskDelayUntil(&lastSysTime, SAMPLING_DELAY_MS_FALLTHROUGH / portTICK_RATE_MS);
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}
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#ifdef GPS_AIRSPEED_PRESENT
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float v_air_GPS=-1.0f;
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//Check if sufficient time has passed. This will depend on whether we have a pitot tube
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//sensor or not. In the case we do, shoot for about once per second. Otherwise, consume GPS
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//as quickly as possible.
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#ifdef BARO_AIRSPEED_PRESENT
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float delT = (lastSysTime - lastLoopTime)/(portTICK_RATE_MS*1000.0f);
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lastLoopTime=lastSysTime;
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if ( ((lastSysTime - lastGPSTime) > 1000*portTICK_RATE_MS || airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GPSONLY)
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&& gpsNew) {
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lastGPSTime=lastSysTime;
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#else
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if (gpsNew) {
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#endif
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gpsNew=false; //Do this first
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//Calculate airspeed as a function of GPS groundspeed and vehicle attitude. From "IMU Wind Estimation (Theory)", by William Premerlani
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gps_airspeedGet(&v_air_GPS);
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}
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//Use the GPS error to correct the airspeed estimate.
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if (v_air_GPS > 0) //We have valid GPS estimate...
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{
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airspeedData.GPSAirspeed=v_air_GPS;
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#ifdef BARO_AIRSPEED_PRESENT
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if(airspeedData.BaroConnected==BAROAIRSPEED_BAROCONNECTED_TRUE){ //Check if there is an airspeed sensors present...
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//Calculate error and error integral
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float airspeedErr=v_air_GPS - airspeed_tas_baro;
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airspeedErrInt+=airspeedErr * delT;
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//Saturate integral component at 5 m/s
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airspeedErrInt = airspeedErrInt > (5.0f / GPS_AIRSPEED_BIAS_KI) ? (5.0f / GPS_AIRSPEED_BIAS_KI) : airspeedErrInt;
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airspeedErrInt = airspeedErrInt < -(5.0f / GPS_AIRSPEED_BIAS_KI) ? -(5.0f / GPS_AIRSPEED_BIAS_KI) : airspeedErrInt;
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//There's already an airspeed sensor, so instead correct it for bias with P correction. The I correction happened earlier in the function.
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airspeedData.TrueAirspeed = airspeed_tas_baro + airspeedErr * GPS_AIRSPEED_BIAS_KP;
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/* Note:
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This would be a good place to change the airspeed calibration, so that it matches the GPS computed values. However,
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this might be a bad idea, as their are two degrees of freedom here: temperature and sensor calibration. I don't
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know how to control for temperature bias.
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*/
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}
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else
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#endif
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{
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//...there's no airspeed sensor, so everything comes from GPS. In this
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//case, filter the airspeed for smoother output
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float alpha=gpsSamplePeriod_ms/(gpsSamplePeriod_ms + GPS_AIRSPEED_TIME_CONSTANT_MS); //Low pass filter.
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airspeedData.TrueAirspeed=v_air_GPS*(alpha) + airspeedData.TrueAirspeed*(1.0f-alpha);
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//Calculate calibrated airspeed from GPS, since we're not getting it from a discrete airspeed sensor
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float baroTemperature;
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BaroAltitudeTemperatureGet(&baroTemperature);
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baroTemperature-=BARO_TEMPERATURE_OFFSET; //Do this just because we suspect that the board heats up relative to its surroundings. THIS IS BAD(tm)
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airspeedData.CalibratedAirspeed =airspeedData.TrueAirspeed / sqrtf((baroTemperature+273.15)/T0);
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}
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}
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#ifdef BARO_AIRSPEED_PRESENT
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else if (airspeedData.BaroConnected==BAROAIRSPEED_BAROCONNECTED_TRUE){
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//No GPS velocity estimate this loop, so filter true airspeed data with baro airspeed
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float alpha=delT/(delT + BARO_TRUEAIRSPEED_TIME_CONSTANT_S); //Low pass filter.
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airspeedData.TrueAirspeed=airspeed_tas_baro*(alpha) + airspeedData.TrueAirspeed*(1.0f-alpha);
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}
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#endif
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#endif
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//Set the UAVO
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airspeedActualData.TrueAirspeed = airspeedData.TrueAirspeed;
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airspeedActualData.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
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BaroAirspeedSet(&airspeedData);
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AirspeedActualSet(&airspeedActualData);
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}
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}
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#ifdef GPS_AIRSPEED_PRESENT
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static void GPSVelocityUpdatedCb(UAVObjEvent * ev)
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{
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gpsNew=true;
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}
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#endif
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void baro_airspeedGet(BaroAirspeedData *baroAirspeedData, portTickType *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin){
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//Find out which sensor we're using.
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switch (airspeedSensorType) {
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#if defined(PIOS_INCLUDE_MPXV7002)
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
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#endif
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#if defined(PIOS_INCLUDE_MPXV5004)
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
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#endif
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#if defined(PIOS_INCLUDE_MPXV7002) || defined(PIOS_INCLUDE_MPXV5004)
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//MPXV5004 and MPXV7002 sensors
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baro_airspeedGetAnalog(baroAirspeedData, lastSysTime, airspeedSensorType, airspeedADCPin);
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break;
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#endif
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#if defined(PIOS_INCLUDE_ETASV3)
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
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//Eagletree Airspeed v3
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baro_airspeedGetETASV3(baroAirspeedData, lastSysTime, airspeedSensorType, airspeedADCPin);
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break;
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#endif
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default:
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baroAirspeedData->BaroConnected = BAROAIRSPEED_BAROCONNECTED_FALSE;
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}
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}
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static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev)
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{
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AirspeedSettingsData airspeedSettingsData;
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AirspeedSettingsGet(&airspeedSettingsData);
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airspeedSensorType=airspeedSettingsData.AirspeedSensorType;
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gpsSamplePeriod_ms=airspeedSettingsData.GPSSamplePeriod_ms;
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#if defined(PIOS_INCLUDE_MPXV7002)
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if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002){
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PIOS_MPXV7002_UpdateCalibration(airspeedSettingsData.ZeroPoint); //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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#endif
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#if defined(PIOS_INCLUDE_MPXV5004)
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if (airspeedSensorType==AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004){
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PIOS_MPXV5004_UpdateCalibration(airspeedSettingsData.ZeroPoint); //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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#endif
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}
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/**
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* @}
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* @}
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*/
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