Airspeed Module

Files
file	airspeed.c
	Airspeed module.
file	gps_airspeed.c
	Use GPS data to estimate airspeed.
file	baro_airspeed_analog.h
	Read airspeed from analog sensor.
file	baro_airspeed_etasv3.h
	Calculate airspeed using GPS.
file	gps_airspeed.h
	Airspeed module, reads temperature and pressure from BMP085.

Data Structures
struct	GPSGlobals

Macros
#define	STACK_SIZE_BYTES   0
#define	NO_AIRSPEED_SENSOR_PRESENT
#define	TASK_PRIORITY   PIOS_THREAD_PRIO_LOW
#define	SAMPLING_DELAY_MS_FALLTHROUGH   50
#define	GPS_AIRSPEED_BIAS_KP   0.01f
#define	GPS_AIRSPEED_BIAS_KI   0.01f
#define	GPS_AIRSPEED_TIME_CONSTANT_MS   500.0f
#define	BARO_TEMPERATURE_OFFSET   5
#define	GPS_AIRSPEED_BIAS_KP   0.1f
#define	GPS_AIRSPEED_BIAS_KI   0.1f
#define	SAMPLING_DELAY_MS_GPS   100
#define	GPS_AIRSPEED_TIME_CONSTANT_MS   500.0f

Functions
static void	airspeedTask (void *parameters)
void	baro_airspeedGet (BaroAirspeedData *baroAirspeedData, uint32_t *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin)
int32_t	AirspeedStart ()
static void	doSettingsUpdate ()
int32_t	AirspeedInitialize ()
	MODULE_INITCALL (AirspeedInitialize, AirspeedStart)
void	baro_airspeedGetAnalog (BaroAirspeedData *baroAirspeedData, uint32_t *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin)
void	baro_airspeedGetETASV3 (BaroAirspeedData *baroAirspeedData, uint32_t *lastSysTime, uint8_t airspeedSensorType, int8_t airspeedADCPin)
int32_t	gps_airspeedInitialize ()
void	gps_airspeedGet (float *v_air_GPS)

Variables
static struct pios_thread *	taskHandle
static bool	module_enabled = false
volatile bool	gpsNew = false
static uint8_t	airspeedSensorType
static uint16_t	gpsSamplePeriod_ms
static float	tasFilterTau = 0.1f
static struct GPSGlobals *	gps

Detailed Description

Macro Definition Documentation

#define BARO_TEMPERATURE_OFFSET   5

Definition at line 86 of file airspeed.c.

#define GPS_AIRSPEED_BIAS_KI   0.1f

Definition at line 43 of file gps_airspeed.c.

#define GPS_AIRSPEED_BIAS_KI   0.01f

Definition at line 83 of file airspeed.c.

#define GPS_AIRSPEED_BIAS_KP   0.1f

Definition at line 42 of file gps_airspeed.c.

#define GPS_AIRSPEED_BIAS_KP   0.01f

Definition at line 82 of file airspeed.c.

#define GPS_AIRSPEED_TIME_CONSTANT_MS   500.0f

Definition at line 45 of file gps_airspeed.c.

#define GPS_AIRSPEED_TIME_CONSTANT_MS   500.0f

Definition at line 84 of file airspeed.c.

#define NO_AIRSPEED_SENSOR_PRESENT

Definition at line 75 of file airspeed.c.

#define SAMPLING_DELAY_MS_FALLTHROUGH   50

Definition at line 80 of file airspeed.c.

#define SAMPLING_DELAY_MS_GPS   100

Definition at line 44 of file gps_airspeed.c.

#define STACK_SIZE_BYTES   0

Output object: BaroAirspeed

This module will periodically update the value of the BaroAirspeed object.

Definition at line 74 of file airspeed.c.

#define TASK_PRIORITY   PIOS_THREAD_PRIO_LOW

Definition at line 78 of file airspeed.c.

Function Documentation

int32_t AirspeedInitialize

(

)

Initialise the module, called on startup

Returns

0 on success or -1 if initialisation failed

Definition at line 154 of file airspeed.c.

int32_t AirspeedStart

(

)

Initialise the module, called on startup

Returns

0 on success or -1 if initialisation failed

Definition at line 111 of file airspeed.c.

static void airspeedTask ( void *  parameters )

static

Module thread, should not return.

Definition at line 200 of file airspeed.c.

void baro_airspeedGet	(	BaroAirspeedData *	baroAirspeedData,
		uint32_t *	lastSysTime,
		uint8_t	airspeedSensorType,
		int8_t	airspeedADCPin
	)

void baro_airspeedGetAnalog	(	BaroAirspeedData *	baroAirspeedData,
		uint32_t *	lastSysTime,
		uint8_t	airspeedSensorType,
		int8_t	airspeedADCPin
	)

Output object: BaroAirspeed

This module will periodically update the value of the BaroAirspeed object.

Definition at line 149 of file baro_airspeed_analog.c.

void baro_airspeedGetETASV3	(	BaroAirspeedData *	baroAirspeedData,
		uint32_t *	lastSysTime,
		uint8_t	airspeedSensorType,
		int8_t	airspeedADCPin
	)

Output object: BaroAirspeed

This module will periodically update the value of the BaroAirspeed object.

Definition at line 104 of file baro_airspeed_etasv3.c.

static void doSettingsUpdate ( )

static

Definition at line 128 of file airspeed.c.

void gps_airspeedGet

(

float *

v_air_GPS

)

Definition at line 103 of file gps_airspeed.c.

int32_t gps_airspeedInitialize

(

)

Definition at line 63 of file gps_airspeed.c.

MODULE_INITCALL	(	AirspeedInitialize	,
		AirspeedStart
	)

Variable Documentation

uint8_t airspeedSensorType

static

Definition at line 95 of file airspeed.c.

struct GPSGlobals* gps

static

Definition at line 56 of file gps_airspeed.c.

volatile bool gpsNew = false

Definition at line 93 of file airspeed.c.

uint16_t gpsSamplePeriod_ms

static

Definition at line 96 of file airspeed.c.

bool module_enabled = false

static

Definition at line 92 of file airspeed.c.

float tasFilterTau = 0.1f

static

Definition at line 97 of file airspeed.c.

struct pios_thread* taskHandle

static

Definition at line 91 of file airspeed.c.