src/main/drivers/pitotmeter/pitotmeter_virtual.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include <platform.h>
  22
  23 #include "build/build_config.h"
  24 #include "build/debug.h"
  25
  26 #include "common/axis.h"
  27
  28 #include "config/feature.h"
  29
  30 #include "common/maths.h"
  31 #include "common/utils.h"
  32
  33 #include "fc/config.h"
  34
  35 #include "flight/pid.h"
  36 #include "flight/wind_estimator.h"
  37
  38 #include "io/gps.h"
  39
  40 #include "navigation/navigation.h"
  41 #include "navigation/navigation_private.h"
  42
  43 #include "sensors/pitotmeter.h"
  44
  45 #include "drivers/pitotmeter/pitotmeter.h"
  46 #include "drivers/pitotmeter/pitotmeter_virtual.h"
  47
  48 #if defined(USE_WIND_ESTIMATOR) && defined(USE_PITOT_VIRTUAL)
  49
  50 static bool virtualPitotStart(pitotDev_t *pitot)
  51 {
  52     UNUSED(pitot);
  53     return true;
  54 }
  55
  56 static bool virtualPitotRead(pitotDev_t *pitot)
  57 {
  58     UNUSED(pitot);
  59     return true;
  60 }
  61
  62 static void virtualPitotCalculate(pitotDev_t *pitot, float *pressure, float *temperature)
  63 {
  64     UNUSED(pitot);
  65     float airSpeed = 0.0f;
  66     if (pitotIsCalibrationComplete()) {
  67         if (isEstimatedWindSpeedValid() && STATE(GPS_FIX)) {
  68             uint16_t windHeading; //centidegrees
  69             float windSpeed = getEstimatedHorizontalWindSpeed(&windHeading); //cm/s
  70             float horizontalWindSpeed = windSpeed * cos_approx(CENTIDEGREES_TO_RADIANS(windHeading - posControl.actualState.yaw)); //yaw int32_t centidegrees
  71             airSpeed = posControl.actualState.velXY - horizontalWindSpeed; //float cm/s or gpsSol.groundSpeed int16_t cm/s
  72             airSpeed = calc_length_pythagorean_2D(airSpeed,getEstimatedActualVelocity(Z)+getEstimatedWindSpeed(Z));
  73         }
  74         else if (STATE(GPS_FIX))
  75         {
  76             airSpeed = calc_length_pythagorean_3D(gpsSol.velNED[X],gpsSol.velNED[Y],gpsSol.velNED[Z]);
  77         }
  78         else {
  79             airSpeed = pidProfile()->fixedWingReferenceAirspeed; //float cm/s
  80         }
  81     }
  82     if (pressure)
  83         *pressure = sq(airSpeed) * SSL_AIR_DENSITY / 20000.0f + SSL_AIR_PRESSURE;
  84     if (temperature)
  85         *temperature = SSL_AIR_TEMPERATURE; // Temperature at standard sea level
  86 }
  87
  88 bool virtualPitotDetect(pitotDev_t *pitot)
  89 {
  90     pitot->delay = 10000;
  91     pitot->calibThreshold = 0.00001f;
  92     pitot->start = virtualPitotStart;
  93     pitot->get = virtualPitotRead;
  94     pitot->calculate = virtualPitotCalculate;
  95     return feature(FEATURE_GPS);
  96 }
  97 #endif