Line data    Source code

       1             : #include "AP_Airspeed_Scripting.h"
       2             : 
       3             : #if AP_AIRSPEED_SCRIPTING_ENABLED
       4             : 
       5             : #include <AP_HAL/AP_HAL.h>
       6             : 
       7             : // return the current differential_pressure in Pascal
       8           0 : bool AP_Airspeed_Scripting::get_differential_pressure(float &pressure)
       9             : {
      10           0 :     WITH_SEMAPHORE(sem);
      11           0 :     if (last_pressure_ms == 0 || AP_HAL::millis() - last_pressure_ms > AP_AIRSPEED_SCRIPTING_TIMEOUT_MS) {
      12           0 :         return false;
      13             :     }
      14           0 :     pressure = last_pressure;
      15           0 :     return true;
      16           0 : }
      17             : 
      18             : // get last temperature
      19         138 : bool AP_Airspeed_Scripting::get_temperature(float &temperature)
      20             : {
      21         138 :     WITH_SEMAPHORE(sem);
      22         138 :     if (last_temperature_ms == 0 || AP_HAL::millis() - last_temperature_ms > AP_AIRSPEED_SCRIPTING_TIMEOUT_MS) {
      23           2 :         return false;
      24             :     }
      25         136 :     temperature = last_temperature;
      26         136 :     return true;
      27         138 : }
      28             : 
      29             : // true once the script has ever provided an airspeed reading directly
      30          55 : bool AP_Airspeed_Scripting::has_airspeed()
      31             : {
      32          55 :     WITH_SEMAPHORE(sem);
      33         110 :     return have_received_airspeed;
      34          55 : }
      35             : 
      36             : // return airspeed in m/s
      37          55 : bool AP_Airspeed_Scripting::get_airspeed(float &airspeed)
      38             : {
      39          55 :     WITH_SEMAPHORE(sem);
      40          55 :     if (last_airspeed_ms == 0 || AP_HAL::millis() - last_airspeed_ms > AP_AIRSPEED_SCRIPTING_TIMEOUT_MS) {
      41           0 :         return false;
      42             :     }
      43          55 :     airspeed = last_airspeed;
      44          55 :     return true;
      45          55 : }
      46             : 
      47           0 : bool AP_Airspeed_Scripting::handle_script_differential_pressure(float press_pa)
      48             : {
      49           0 :     WITH_SEMAPHORE(sem);
      50           0 :     if (have_received_airspeed) {
      51           0 :         return false;
      52             :     }
      53           0 :     last_pressure = press_pa;
      54           0 :     last_pressure_ms = AP_HAL::millis();
      55           0 :     return true;
      56           0 : }
      57             : 
      58          55 : bool AP_Airspeed_Scripting::handle_script_airspeed(float airspeed_ms)
      59             : {
      60          55 :     WITH_SEMAPHORE(sem);
      61          55 :     last_airspeed = airspeed_ms;
      62          55 :     last_airspeed_ms = AP_HAL::millis();
      63             : 
      64             :     // Once an airspeed reading has been received reject pressure readings and skip calibration
      65          55 :     have_received_airspeed = true;
      66          55 :     set_use_zero_offset();
      67         110 :     return true;
      68          55 : }
      69             : 
      70          55 : bool AP_Airspeed_Scripting::handle_script_temperature(float temperature_c)
      71             : {
      72          55 :     WITH_SEMAPHORE(sem);
      73          55 :     last_temperature = temperature_c;
      74          55 :     last_temperature_ms = AP_HAL::millis();
      75         110 :     return true;
      76          55 : }
      77             : 
      78             : #endif  // AP_AIRSPEED_SCRIPTING_ENABLED