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[paparazzi-commits] [4299] CSC updates for airspeed and baro
From: |
Allen Ibara |
Subject: |
[paparazzi-commits] [4299] CSC updates for airspeed and baro |
Date: |
Tue, 27 Oct 2009 18:02:24 +0000 |
Revision: 4299
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4299
Author: aibara
Date: 2009-10-27 18:02:24 +0000 (Tue, 27 Oct 2009)
Log Message:
-----------
CSC updates for airspeed and baro
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c
Modified: paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h 2009-10-27 18:01:59 UTC
(rev 4298)
+++ paparazzi3/trunk/sw/airborne/csc/csc_telemetry.h 2009-10-27 18:02:24 UTC
(rev 4299)
@@ -130,5 +130,16 @@
&zero, \
&zero, &zero) }
+#ifdef USE_AIRSPEED
+#include "estimator.h"
+#define PERIODIC_SEND_AIRSPEED(_chan) { float empty; DOWNLINK_SEND_AIRSPEED
(_chan, &adc_airspeed_val,&estimator_airspeed,&empty,&empty,&empty) }
+#else
+#define PERIODIC_SEND_AIRSPEED(_chan) {}
+#endif
+#ifdef USE_BARO_ETS
+#include "baro_ets.h"
+#define PERIODIC_SEND_ESTIMATOR(_chan) { float empty;
DOWNLINK_SEND_ESTIMATOR(_chan, &baro_ets_altitude, &empty) }
+#endif
+
#endif /* CSC_TELEMETRY_H */
Modified: paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c 2009-10-27 18:01:59 UTC
(rev 4298)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c 2009-10-27 18:02:24 UTC
(rev 4299)
@@ -40,8 +40,10 @@
#include "csc_servos.h"
+#include "airspeed.h"
+#include "baro_ets.h"
+#include "airspeed_ets.h"
-
#include "interrupt_hw.h"
#include "uart.h"
#include "csc_telemetry.h"
@@ -60,6 +62,7 @@
#define SERVO_TIMEOUT (SYS_TICS_OF_SEC(0.1) / PERIODIC_TASK_PERIOD)
#define CSC_STATUS_TIMEOUT (SYS_TICS_OF_SEC(0.25) / PERIODIC_TASK_PERIOD)
+#define AIRSPEED_TIMEOUT (SYS_TICS_OF_SEC(0.05) / PERIODIC_TASK_PERIOD)
static uint32_t servo_cmd_timeout = 0;
static uint32_t can_msg_count = 0;
@@ -110,6 +113,17 @@
motors_init();
#endif
+#ifdef USE_AIRSPEED
+ airspeed_init();
+#endif
+
+#ifdef USE_AIRSPEED_ETS
+ airspeed_ets_init();
+#endif
+#ifdef USE_BARO_ETS
+ baro_ets_init();
+#endif
+
int_enable();
}
@@ -136,10 +150,30 @@
csc_ap_link_send_status(csc_loops, can_msg_count);
}
#ifdef ADC
- if ((++csc_loops % CSC_STATUS_TIMEOUT) == 0) {
+ if ((csc_loops % CSC_STATUS_TIMEOUT) == 0) {
csc_adc_periodic();
}
#endif
+
+ if ((csc_loops % AIRSPEED_TIMEOUT) == 0) {
+#ifdef USE_AIRSPEED_ETS
+ airspeed_ets_periodic();
+#endif
+#ifdef USE_BARO_ETS
+ baro_ets_read();
+#endif
+ } else if ((csc_loops % AIRSPEED_TIMEOUT) == 1) {
+#ifdef USE_BARO_ETS
+ baro_ets_periodic();
+#endif
+#ifdef USE_AIRSPEED_ETS
+ airspeed_ets_read();
+#endif
+ }
+
+#ifdef USE_AIRSPEED
+ airspeed_update();
+#endif
}
static void csc_main_event( void ) {
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Allen Ibara <=