[modules] make air_data a module

paparazzi · Oct 11, 2014 · c753995 · c753995
1 parent d585cd4
commit c753995
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Showing 7 changed files with 59 additions and 25 deletions.
diff --git a/conf/firmwares/rotorcraft.makefile b/conf/firmwares/rotorcraft.makefile
@@ -73,10 +73,8 @@ $(TARGET).srcs += subsystems/commands.c
 $(TARGET).srcs += state.c
 
 #
-# AIR DATA and BARO (if needed)
+# BARO_BOARD (if existing/configured)
 #
-$(TARGET).srcs += subsystems/air_data.c
-
 include $(CFG_SHARED)/baro_board.makefile
 
 

diff --git a/conf/firmwares/subsystems/fixedwing/autopilot.makefile b/conf/firmwares/subsystems/fixedwing/autopilot.makefile
@@ -161,8 +161,6 @@ ap_srcs 		+= state.c
 ap_srcs 		+= subsystems/settings.c
 ap_srcs 		+= $(SRC_ARCH)/subsystems/settings_arch.c
 
-# AIR DATA
-ap_srcs += subsystems/air_data.c
 
 # BARO
 include $(CFG_SHARED)/baro_board.makefile

diff --git a/conf/modules/air_data.xml b/conf/modules/air_data.xml
@@ -0,0 +1,34 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="air_data">
+  <doc>
+    <description>
+    AirData interface.
+    Provides an interface for baro absolute and differential pressure as well as airspeed.
+    Subscribes to BARO_ABS and BARO_DIFF ABI messages and calculates QNH and airspeed from it.
+    </description>
+    <define name="AIR_DATA_BARO_ABS_ID" value="ABI_SENDER_ID" description="ABI sender id for absolute baro measurement (default: ABI_BROADCAST)"/>
+    <define name="AIR_DATA_BARO_DIFF_ID" value="ABI_SENDER_ID" description="ABI sender id for differential baro measurement (default: ABI_BROADCAST)"/>
+    <define name="AIR_DATA_AIRSPEED_SCALE" value="1.6327" description="quadratic scale factor to convert differential pressure to airspeed"/>
+    <define name="AIR_DATA_CALC_AIRSPEED" value="FALSE|TRUE" description="Calculate Airspeed from differential pressure (default: TRUE)"/>
+    <define name="AIR_DATA_AMSL_BARO" value="FALSE|TRUE" description="Calculate AMS from baro and QNH (default: FALSE)"/>
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings name="air_data">
+        <dl_setting min="800" max="1200" step="1" module="air_data/air_data" var="air_data.qnh" shortname="QNH" handler="SetQNH"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_qnh_once" module="air_data/air_data" shortname="calc_qnh"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_airspeed" module="air_data/air_data" shortname="calc_airspeed"/>
+        <dl_setting min="0" max="1" step="1" var="air_data.calc_amsl_baro" module="air_data/air_data" shortname="calc_amsl"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <header>
+    <file name="air_data.h"/>
+  </header>
+  <init fun="air_data_init()"/>
+  <periodic fun="air_data_periodic()" freq="10"/>
+  <makefile>
+    <file name="air_data.c"/>
+  </makefile>
+</module>
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -53,7 +53,6 @@
 #if USE_AHRS_ALIGNER
 #include "subsystems/ahrs/ahrs_aligner.h"
 #endif
-#include "subsystems/air_data.h"
 #if USE_BARO_BOARD
 #include "subsystems/sensors/baro.h"
 PRINT_CONFIG_MSG_VALUE("USE_BARO_BOARD is TRUE, reading onboard baro: ", BARO_BOARD)
@@ -205,7 +204,6 @@ void init_ap( void ) {
   register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_filter_status);
 #endif
 
-  air_data_init();
 #if USE_BARO_BOARD
   baro_init();
 #endif

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -52,7 +52,6 @@
 
 #include "subsystems/imu.h"
 #include "subsystems/gps.h"
-#include "subsystems/air_data.h"
 
 #if USE_BARO_BOARD
 #include "subsystems/sensors/baro.h"
@@ -152,7 +151,6 @@ STATIC_INLINE void main_init( void ) {
 
   radio_control_init();
 
-  air_data_init();
 #if USE_BARO_BOARD
   baro_init();
 #endif

diff --git a/sw/airborne/subsystems/air_data.c → sw/airborne/modules/air_data/air_data.c b/sw/airborne/subsystems/air_data.c → sw/airborne/modules/air_data/air_data.c
@@ -1,7 +1,8 @@
 /*
  * Copyright (C) 2013 Gautier Hattenberger
+ *               2014 Felix Ruess <felix.ruess@gmail.com>
  *
- * This file is part of paparazzi.
+ * This file is part of paparazzi
  *
  * paparazzi is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -14,25 +15,25 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
 /**
- * @file subsystems/air_data.c
+ * @file modules/air_data/air_data.c
  * Air Data interface
  *  - pressures
  *  - airspeed
  *  - angle of attack and sideslip
  *  - wind
  */
 
-#include "subsystems/air_data.h"
+#include "modules/air_data/air_data.h"
 #include "subsystems/abi.h"
 #include "math/pprz_isa.h"
 #include "state.h"
 
+
 /** global AirData state
  */
 struct AirData air_data;
@@ -89,13 +90,14 @@ static void pressure_abs_cb(uint8_t __attribute__((unused)) sender_id, const flo
   // calculate QNH from pressure and absolute alitude if that is available
   if (air_data.calc_qnh_once && stateIsGlobalCoordinateValid()) {
     float h = stateGetPositionLla_f()->alt;
-    air_data.qnh = pprz_isa_ref_pressure_of_height_full(air_data.pressure, h);
+    air_data.qnh = pprz_isa_ref_pressure_of_height_full(air_data.pressure, h) / 100.f;
     air_data.calc_qnh_once = FALSE;
     qnh_set = TRUE;
   }
 
   if (air_data.calc_amsl_baro && qnh_set) {
-    air_data.amsl_baro = pprz_isa_height_of_pressure_full(air_data.pressure, air_data.qnh);
+    air_data.amsl_baro = pprz_isa_height_of_pressure_full(air_data.pressure,
+                                                          air_data.qnh * 100.f);
     air_data.amsl_baro_valid = TRUE;
   }
 
@@ -165,3 +167,9 @@ void air_data_periodic(void)
     air_data.amsl_baro_valid = FALSE;
   }
 }
+
+void air_data_SetQNH(float qnh)
+{
+  air_data.qnh = qnh;
+  qnh_set = TRUE;
+}
diff --git a/sw/airborne/subsystems/air_data.h → sw/airborne/modules/air_data/air_data.h b/sw/airborne/subsystems/air_data.h → sw/airborne/modules/air_data/air_data.h
@@ -1,7 +1,8 @@
 /*
  * Copyright (C) 2013 Gautier Hattenberger
+ *               2014 Felix Ruess <felix.ruess@gmail.com>
  *
- * This file is part of paparazzi.
+ * This file is part of paparazzi
  *
  * paparazzi is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -14,13 +15,12 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
  */
 
 /**
- * @file subsystems/air_data.h
+ * @file modules/air_data/air_data.h
  * Air Data interface
  *  - pressures
  *  - airspeed
@@ -44,7 +44,7 @@ struct AirData {
   float wind_dir;     ///< wind direction (rad, 0 north, >0 clockwise)
   float airspeed_scale; ///< quadratic scale factor to convert differential pressure to airspeed
 
-  float qnh;             ///< Barometric pressure adjusted to sea level in Pa
+  float qnh;             ///< Barometric pressure adjusted to sea level in hPa
   float amsl_baro;       ///< altitude above sea level in m from pressure and QNH
   bool_t amsl_baro_valid; ///< TRUE if #amsl_baro is currently valid
   bool_t calc_airspeed;  ///< if TRUE, calculate airspeed from differential pressure
@@ -69,6 +69,6 @@ extern void air_data_periodic(void);
  */
 extern float air_data_get_amsl(void);
 
+extern void air_data_SetQNH(float qnh);
 
-#endif /* AIR_DATA_H */
-
+#endif