Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-26 09:45:33 +03:00
Code Issues Wiki Activity

Align PITOT detection code with acc/gyro/baro code

Browse source
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-11-13 20:28:30 +10:00
parent b7c7f036db
commit f6ba7d548c
7 changed files with 51 additions and 18 deletions
Download patch file Download diff file Expand all files Collapse all files

3
src/main/drivers/logging.c
View file

@ -55,7 +55,8 @@ static const char * eventDescription[BOOT_EVENT_CODE_COUNT] = {
[BOOT_EVENT_HMC5883L_READ_FAILED] = "HMC5883L_READ_FAILED",
[BOOT_EVENT_HMC5883L_SATURATION] = "HMC5883L_SATURATION",
[BOOT_EVENT_TIMER_CH_SKIPPED] = "TIMER_CHANNEL_SKIPPED",
[BOOT_EVENT_TIMER_CH_MAPPED] = "TIMER_CHANNEL_MAPPED"
[BOOT_EVENT_TIMER_CH_MAPPED] = "TIMER_CHANNEL_MAPPED",
[BOOT_EVENT_PITOT_DETECTION] = "PITOT_DETECTION",
};
const char * getBootlogEventDescription(bootLogEventCode_e eventCode)

1
src/main/drivers/logging_codes.h
View file

@ -47,6 +47,7 @@ typedef enum {
BOOT_EVENT_HMC5883L_SATURATION = 17,
BOOT_EVENT_TIMER_CH_SKIPPED = 18, // 1 - MAX_MOTORS exceeded, 2 - MAX_SERVOS exceeded, 3 - feature clash
BOOT_EVENT_TIMER_CH_MAPPED = 19, // 0 - PPM, 1 - PWM, 2 - MOTOR, 3 - SERVO
BOOT_EVENT_PITOT_DETECTION = 20,
BOOT_EVENT_CODE_COUNT
} bootLogEventCode_e;

4
src/main/fc/fc_msp.c
View file

@ -515,7 +515,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_PITOT) << 6);
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, masterConfig.current_profile_index);
sbufWriteU16(dst, averageSystemLoadPercent);
@ -528,7 +528,7 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
#else
sbufWriteU16(dst, 0);
#endif
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4);
sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_SONAR) << 4 | sensors(SENSOR_PITOT) << 6);
sbufWriteU32(dst, packFlightModeFlags());
sbufWriteU8(dst, masterConfig.current_profile_index);
break;

10
src/main/io/serial_cli.c
View file

@ -234,22 +234,24 @@ static const rxFailsafeChannelMode_e rxFailsafeModesTable[RX_FAILSAFE_TYPE_COUNT
#if (FLASH_SIZE > 64)
// sync this with sensors_e
static const char * const sensorTypeNames[] = {
"GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
"GYRO", "ACC", "BARO", "MAG", "SONAR", "PITOT", "GPS", "GPS+MAG", NULL
};
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR)
// sync with gyroSensor_e
static const char * const gyroNames[] = { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
// sync with accelerationSensor_e
static const char * const accNames[] = { "None", "", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
static const char * const accNames[] = { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
// sync with baroSensor_e
static const char * const baroNames[] = { "", "None", "BMP085", "MS5611", "BMP280", "FAKE"};
// sync with magSensor_e
static const char * const magNames[] = { "None", "", "HMC5883", "AK8975", "MAG_GPS", "MAG_MAG3110", "MAG_AK8963", "FAKE"};
static const char * const magNames[] = { "", "None", "HMC5883", "AK8975", "MAG_GPS", "MAG_MAG3110", "MAG_AK8963", "FAKE"};
// sycn with rangefinderType_e
static const char * const rangefinderNames[] = { "None", "HCSR04", "SRF10"};
// sync with pitotSensor_e
static const char * const pitotmeterNames[] = { "Auto", "None", "MS4525"};
static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames};
static const char * const *sensorHardwareNames[] = {gyroNames, accNames, baroNames, magNames, rangefinderNames, pitotmeterNames};
#endif

29
src/main/sensors/initialisation.c
View file

@ -95,7 +95,7 @@ extern mag_t mag;
extern sensor_align_e gyroAlign;
extern pitot_t pitot;
uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE };
uint8_t detectedSensors[SENSOR_INDEX_COUNT] = { GYRO_NONE, ACC_NONE, BARO_NONE, MAG_NONE, RANGEFINDER_NONE, PITOT_NONE };
const extiConfig_t *selectMPUIntExtiConfig(void)
@ -463,15 +463,36 @@ static bool detectBaro(baroSensor_e baroHardwareToUse)
#ifdef PITOT
static bool detectPitot()
{
// Detect what pressure sensors are available.
pitotSensor_e pitotHardware = PITOT_DEFAULT;
switch (pitotHardware) {
case PITOT_DEFAULT:
; // Fallthrough
case PITOT_MS4525:
#ifdef USE_PITOT_MS4525
if (ms4525Detect(&pitot)) {
sensorsSet(SENSOR_PITOT);
return true;
pitotHardware = PITOT_MS4525;
break;
}
#endif
; // Fallthrough
case PITOT_NONE:
pitotHardware = PITOT_NONE;
break;
}
addBootlogEvent6(BOOT_EVENT_PITOT_DETECTION, BOOT_EVENT_FLAGS_NONE, pitotHardware, 0, 0, 0);
if (pitotHardware == PITOT_NONE) {
sensorsClear(SENSOR_PITOT);
return false;
}
detectedSensors[SENSOR_INDEX_PITOT] = pitotHardware;
sensorsSet(SENSOR_PITOT);
return true;
}
#endif

6
src/main/sensors/pitotmeter.h
View file

@ -17,6 +17,12 @@
#pragma once
typedef enum {
PITOT_DEFAULT = 0,
PITOT_NONE = 1,
PITOT_MS4525 = 2
} pitotSensor_e;
#define PITOT_SAMPLE_COUNT_MAX 48
typedef struct pitotmeterConfig_s {

8
src/main/sensors/sensors.h
View file

@ -23,6 +23,7 @@ typedef enum {
SENSOR_INDEX_BARO,
SENSOR_INDEX_MAG,
SENSOR_INDEX_RANGEFINDER,
SENSOR_INDEX_PITOT,
SENSOR_INDEX_COUNT
} sensorIndex_e;
@ -42,15 +43,16 @@ typedef union flightDynamicsTrims_u {
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
#define CALIBRATING_PITOT_CYCLES 200
// These bits have to be aligned with sensorIndex_e
typedef enum {
SENSOR_GYRO = 1 << 0, // always present
SENSOR_ACC = 1 << 1,
SENSOR_BARO = 1 << 2,
SENSOR_MAG = 1 << 3,
SENSOR_SONAR = 1 << 4,
SENSOR_GPS = 1 << 5,
SENSOR_GPSMAG = 1 << 6,
SENSOR_PITOT = 1 << 7,
SENSOR_PITOT = 1 << 5,
SENSOR_GPS = 1 << 6,
SENSOR_GPSMAG = 1 << 7,
} sensors_e;
typedef enum {