Paparazzi UAS  v4.0.4_stable-3-gf39211a
Paparazzi is a free software Unmanned Aircraft System.
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airspeed_adc.c
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2  * Copyright (C) 2010 The Paparazzi Team
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4  * This file is part of paparazzi.
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22 
24 #include "mcu_periph/adc.h"
25 #include BOARD_CONFIG
26 #include "generated/airframe.h"
27 #include "estimator.h"
28 
30 
31 #ifndef SITL // Use ADC if not in simulation
32 
33 #ifndef ADC_CHANNEL_AIRSPEED
34 #error "ADC_CHANNEL_AIRSPEED needs to be defined to use airspeed_adc module"
35 #endif
36 
37 #ifndef ADC_CHANNEL_AIRSPEED_NB_SAMPLES
38 #define ADC_CHANNEL_AIRSPEED_NB_SAMPLES DEFAULT_AV_NB_SAMPLE
39 #endif
40 
42 
43 #endif
44 
45 void airspeed_adc_init( void ) {
46 #ifndef SITL
48 #endif
49 }
50 
51 void airspeed_adc_update( void ) {
52 #ifndef SITL
54 #ifdef AIRSPEED_QUADRATIC_SCALE
55  float airspeed = (adc_airspeed_val - AIRSPEED_BIAS);
56  if (airspeed <= 0.0f)
57  airspeed = 0.0f;
58  airspeed = sqrtf(airspeed) * AIRSPEED_QUADRATIC_SCALE;
59 #else
60  float airspeed = AIRSPEED_SCALE * (adc_airspeed_val - AIRSPEED_BIAS);
61 #endif
62  EstimatorSetAirspeed(airspeed);
63 #else // SITL
64  extern float sim_air_speed;
65  EstimatorSetAirspeed(sim_air_speed);
66  adc_airspeed_val = 0;
67 #endif //SITL
68 }
unsigned short uint16_t
Definition: types.h:16
void airspeed_adc_update(void)
Definition: airspeed_adc.c:51
uint8_t av_nb_sample
Definition: adc.h:64
#define EstimatorSetAirspeed(airspeed)
Definition: estimator.h:128
arch independent ADC (Analog to Digital Converter) API
void airspeed_adc_init(void)
Definition: airspeed_adc.c:45
uint32_t sum
Definition: adc.h:61
#define ADC_CHANNEL_AIRSPEED_NB_SAMPLES
Definition: airspeed_adc.c:38
float sim_air_speed
Definition: sim_ir.c:14
struct adc_buf buf_airspeed
Definition: airspeed_adc.c:41
Generic interface for all ADC hardware drivers, independent from microcontroller architecture.
Definition: adc.h:60
void adc_buf_channel(uint8_t adc_channel __attribute__((unused)), struct adc_buf *s __attribute__((unused)), uint8_t av_nb_sample __attribute__((unused)))
Required by infrared.c:ir_init()
Definition: jsbsim_ir.c:35
State estimation, fusioning sensors.
uint16_t adc_airspeed_val
Definition: airspeed_adc.c:29