Exemplos de Log_Write_Baro em C++ (Cpp)

Exemplo n.º 1

Arquivo: ArduPlane.cpp Projeto: geofrancis/ardupilot

void Plane::update_alt()
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }

    // calculate the sink rate.
    float sink_rate;
    Vector3f vel;
    if (ahrs.get_velocity_NED(vel)) {
        sink_rate = vel.z;
    } else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
        sink_rate = gps.velocity().z;
    } else {
        sink_rate = -barometer.get_climb_rate();        
    }

    // low pass the sink rate to take some of the noise out
    auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
    
    geofence_check(true);

    update_flight_stage();
}

Exemplo n.º 2

Arquivo: APMrover2.cpp Projeto: hiroyuki405/ardupilot

void Rover::update_alt()
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }
}

Exemplo n.º 3

Arquivo: sensors.cpp Projeto: BrendanSmith/ardupilot

// read the barometer and return the updated altitude in meters
void Tracker::update_barometer(void)
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }
}

Exemplo n.º 4

Arquivo: ArduPlane.cpp Projeto: GUYING7/ardupilot

void Plane::update_alt()
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }

    // calculate the sink rate.
    float sink_rate;
    Vector3f vel;
    if (ahrs.get_velocity_NED(vel)) {
        sink_rate = vel.z;
    } else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
        sink_rate = gps.velocity().z;
    } else {
        sink_rate = -barometer.get_climb_rate();        
    }

    // low pass the sink rate to take some of the noise out
    auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
    
    geofence_check(true);

    update_flight_stage();

    if (auto_throttle_mode && !throttle_suppressed) {        

        bool is_doing_auto_land = false;
        float distance_beyond_land_wp = 0;

        switch (flight_stage) {
        case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
        case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
        case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
            is_doing_auto_land = true;
            if (location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
                distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
            }
            break;
        default:
            break;
        }

        SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
                                                 target_airspeed_cm,
                                                 flight_stage,
                                                 is_doing_auto_land,
                                                 distance_beyond_land_wp,
                                                 get_takeoff_pitch_min_cd(),
                                                 throttle_nudge,
                                                 tecs_hgt_afe(),
                                                 aerodynamic_load_factor);
        if (should_log(MASK_LOG_TECS)) {
            Log_Write_TECS_Tuning();
        }
    }
}

Exemplo n.º 5

Arquivo: sensors.cpp Projeto: LanderU/ardupilot

// return barometric altitude in centimeters
void Sub::read_barometer(void)
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }

    if (ap.depth_sensor_present) {
        sensor_health.depth = barometer.healthy(depth_sensor_idx);
    }
}

Exemplo n.º 6

Arquivo: sensors.cpp Projeto: BeaglePilot2/ardupilot

// return barometric altitude in centimeters
void Copter::read_barometer(void)
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }
    baro_alt = barometer.get_altitude() * 100.0f;
    baro_climbrate = barometer.get_climb_rate() * 100.0f;

    motors.set_air_density_ratio(barometer.get_air_density_ratio());
}

Exemplo n.º 7

Arquivo: ArduPlane.cpp Projeto: Jay916/ardupilot

void Plane::update_alt()
{
    barometer.update();
    if (should_log(MASK_LOG_IMU)) {
        Log_Write_Baro();
    }

    // calculate the sink rate.
    float sink_rate;
    Vector3f vel;
    if (ahrs.get_velocity_NED(vel)) {
        sink_rate = vel.z;
    } else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.have_vertical_velocity()) {
        sink_rate = gps.velocity().z;
    } else {
        sink_rate = -barometer.get_climb_rate();        
    }

    // low pass the sink rate to take some of the noise out
    auto_state.sink_rate = 0.8f * auto_state.sink_rate + 0.2f*sink_rate;
    
    geofence_check(true);

    update_flight_stage();

    if (auto_throttle_mode && !throttle_suppressed) {        

        float distance_beyond_land_wp = 0;
        if (auto_state.land_in_progress && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
            distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
        }

        SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
                                                 target_airspeed_cm,
                                                 flight_stage,
                                                 auto_state.land_in_progress,
                                                 distance_beyond_land_wp,
                                                 get_takeoff_pitch_min_cd(),
                                                 throttle_nudge,
                                                 tecs_hgt_afe(),
                                                 aerodynamic_load_factor);
    }
}