CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutSign UpSign In
Ardupilot

Real-time collaboration for Jupyter Notebooks, Linux Terminals, LaTeX, VS Code, R IDE, and more,
all in one place. Commercial Alternative to JupyterHub.

GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/AP_Periph/baro.cpp
Views: 1798
1
#include "AP_Periph.h"

2


3
#ifdef HAL_PERIPH_ENABLE_BARO

4


5
/*

6
  barometer support

7
 */

8


9
#include <dronecan_msgs.h>

10


11
/*

12
  update CAN baro

13
 */

14
void AP_Periph_FW::can_baro_update(void)

15
{

16
    if (!periph.g.baro_enable) {

17
        return;

18
    }

19
    baro.update();

20
    if (last_baro_update_ms == baro.get_last_update()) {

21
        return;

22
    }

23


24
    last_baro_update_ms = baro.get_last_update();

25
    if (!baro.healthy()) {

26
        // don't send any data

27
        return;

28
    }

29
    const float press = baro.get_pressure();

30
    const float temp = baro.get_temperature();

31


32
    {

33
        uavcan_equipment_air_data_StaticPressure pkt {};

34
        pkt.static_pressure = press;

35
        pkt.static_pressure_variance = 0; // should we make this a parameter?

36


37
        uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_MAX_SIZE];

38
        uint16_t total_size = uavcan_equipment_air_data_StaticPressure_encode(&pkt, buffer, !periph.canfdout());

39


40
        canard_broadcast(UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_SIGNATURE,

41
                        UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_ID,

42
                        CANARD_TRANSFER_PRIORITY_LOW,

43
                        &buffer[0],

44
                        total_size);

45
    }

46


47
    {

48
        uavcan_equipment_air_data_StaticTemperature pkt {};

49
        pkt.static_temperature = C_TO_KELVIN(temp);

50
        pkt.static_temperature_variance = 0; // should we make this a parameter?

51


52
        uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_MAX_SIZE];

53
        uint16_t total_size = uavcan_equipment_air_data_StaticTemperature_encode(&pkt, buffer, !periph.canfdout());

54


55
        canard_broadcast(UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_SIGNATURE,

56
                        UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_ID,

57
                        CANARD_TRANSFER_PRIORITY_LOW,

58
                        &buffer[0],

59
                        total_size);

60
    }

61
}

62


63
#endif // HAL_PERIPH_ENABLE_BARO

64


65