mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-26 07:30:35 +08:00
Holger Steinhaus
114 lines
3.8 KiB
C++
114 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include "baro.hpp"
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#include <cmath>
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static const orb_id_t BARO_TOPICS[2] = {
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ORB_ID(sensor_baro0),
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ORB_ID(sensor_baro1)
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};
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const char *const UavcanBarometerBridge::NAME = "baro";
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UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode& node) :
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UavcanCDevSensorBridgeBase("uavcan_baro", "/dev/uavcan/baro", BARO_DEVICE_PATH, BARO_TOPICS),
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_sub_air_data(node)
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{
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}
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int UavcanBarometerBridge::init()
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{
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int res = device::CDev::init();
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if (res < 0) {
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return res;
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}
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res = _sub_air_data.start(AirDataCbBinder(this, &UavcanBarometerBridge::air_data_sub_cb));
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if (res < 0) {
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log("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case BAROIOCSMSLPRESSURE: {
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if ((arg < 80000) || (arg > 120000)) {
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return -EINVAL;
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} else {
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log("new msl pressure %u", _msl_pressure);
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_msl_pressure = arg;
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return OK;
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}
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}
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case BAROIOCGMSLPRESSURE: {
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return _msl_pressure;
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}
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default: {
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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}
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void UavcanBarometerBridge::air_data_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticAirData> &msg)
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{
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auto report = ::baro_report();
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report.timestamp = msg.getMonotonicTimestamp().toUSec();
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report.temperature = msg.static_temperature;
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report.pressure = msg.static_pressure / 100.0F; // Convert to millibar
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/*
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* Altitude computation
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* Refer to the MS5611 driver for details
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*/
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const double T1 = 15.0 + 273.15; // temperature at base height in Kelvin
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const double a = -6.5 / 1000; // temperature gradient in degrees per metre
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const double g = 9.80665; // gravity constant in m/s/s
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const double R = 287.05; // ideal gas constant in J/kg/K
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const double p1 = _msl_pressure / 1000.0; // current pressure at MSL in kPa
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const double p = double(msg.static_pressure) / 1000.0; // measured pressure in kPa
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report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
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publish(msg.getSrcNodeID().get(), &report);
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}
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