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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduSub/sensors.cpp
Views: 1798
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#include "Sub.h"

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// return barometric altitude in centimeters

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void Sub::read_barometer()

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{

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    barometer.update();

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    // If we are reading a positive altitude, the sensor needs calibration

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    // Even a few meters above the water we should have no significant depth reading

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    if(barometer.get_altitude() > 0) {

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        barometer.update_calibration();

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    }

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    if (ap.depth_sensor_present) {

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        sensor_health.depth = barometer.healthy(depth_sensor_idx);

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    }

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}

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void Sub::init_rangefinder()

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{

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#if AP_RANGEFINDER_ENABLED

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    rangefinder.set_log_rfnd_bit(MASK_LOG_CTUN);

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    rangefinder.init(ROTATION_PITCH_270);

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    rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);

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    rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);

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#endif

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}

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// return rangefinder altitude in centimeters

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void Sub::read_rangefinder()

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{

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#if AP_RANGEFINDER_ENABLED

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    rangefinder.update();

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    // signal quality ranges from 0 (worst) to 100 (perfect), -1 means n/a

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    int8_t signal_quality_pct = rangefinder.signal_quality_pct_orient(ROTATION_PITCH_270);

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    rangefinder_state.alt_healthy =

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            (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) &&

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            (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX) &&

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            (signal_quality_pct == -1 || signal_quality_pct >= g.rangefinder_signal_min);

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    int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);

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#if RANGEFINDER_TILT_CORRECTION

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    // correct alt for angle of the rangefinder

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    temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);

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#endif

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    rangefinder_state.alt_cm = temp_alt;

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    rangefinder_state.inertial_alt_cm = inertial_nav.get_position_z_up_cm();

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    rangefinder_state.min_cm = rangefinder.min_distance_cm_orient(ROTATION_PITCH_270);

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    rangefinder_state.max_cm = rangefinder.max_distance_cm_orient(ROTATION_PITCH_270);

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    // calculate rangefinder_terrain_offset_cm

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    if (rangefinder_state.alt_healthy) {

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        uint32_t now = AP_HAL::millis();

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        if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) {

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            // reset filter if we haven't used it within the last second

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            rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);

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        } else {

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            rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);

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        }

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        rangefinder_state.last_healthy_ms = now;

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        rangefinder_state.rangefinder_terrain_offset_cm =

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                sub.rangefinder_state.inertial_alt_cm - sub.rangefinder_state.alt_cm_filt.get();

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    }

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    // send rangefinder altitude and health to waypoint navigation library

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    wp_nav.set_rangefinder_terrain_offset(

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            rangefinder_state.enabled,

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            rangefinder_state.alt_healthy,

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            rangefinder_state.rangefinder_terrain_offset_cm);

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    circle_nav.set_rangefinder_terrain_offset(

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            rangefinder_state.enabled && wp_nav.rangefinder_used(),

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            rangefinder_state.alt_healthy,

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            rangefinder_state.rangefinder_terrain_offset_cm);

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#else

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    rangefinder_state.enabled = false;

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    rangefinder_state.alt_healthy = false;

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    rangefinder_state.alt_cm = 0;

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    rangefinder_state.inertial_alt_cm = 0;

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    rangefinder_state.rangefinder_terrain_offset_cm = 0;

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#endif

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}

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// return true if rangefinder_alt can be used

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bool Sub::rangefinder_alt_ok() const

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{

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    uint32_t now = AP_HAL::millis();

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    return (rangefinder_state.enabled && rangefinder_state.alt_healthy && now - rangefinder_state.last_healthy_ms < RANGEFINDER_TIMEOUT_MS);

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}

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