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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-02 16:29:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-02 16:29:43 +0200 |
| commit | b9446af3f9758604211aefe64f91e27a7e71c631 (patch) | |
| tree | b049c6dd269ae1fd23c6d05013b7805708fd8469 /src/modules/sensors | |
| parent | 6665714b6731c649a42d877774de28bc1dfa9301 (diff) | |
| download | px4-firmware-b9446af3f9758604211aefe64f91e27a7e71c631.tar.gz px4-firmware-b9446af3f9758604211aefe64f91e27a7e71c631.tar.bz2 px4-firmware-b9446af3f9758604211aefe64f91e27a7e71c631.zip | |
Show correct battery voltage for v2 boards
Diffstat (limited to 'src/modules/sensors')
| -rw-r--r-- | src/modules/sensors/sensor_params.c | 6 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 31 |
2 files changed, 34 insertions, 3 deletions
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 133cda8d6..ba4d2186c 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -68,7 +68,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 1667); +PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); @@ -157,8 +157,12 @@ PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f); PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */ PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); +#else /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f)); +#endif PARAM_DEFINE_INT32(RC_MAP_ROLL, 1); PARAM_DEFINE_INT32(RC_MAP_PITCH, 2); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 7ff9e19b4..d9185891b 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -92,8 +92,35 @@ #define BARO_HEALTH_COUNTER_LIMIT_OK 5 #define ADC_HEALTH_COUNTER_LIMIT_OK 5 -#define ADC_BATTERY_VOLTAGE_CHANNEL 10 -#define ADC_AIRSPEED_VOLTAGE_CHANNEL 11 +/** + * Analog layout: + * FMU: + * IN2 - battery voltage + * IN3 - battery current + * IN4 - 5V sense + * IN10 - spare (we could actually trim these from the set) + * IN11 - spare (we could actually trim these from the set) + * IN12 - spare (we could actually trim these from the set) + * IN13 - aux1 + * IN14 - aux2 + * IN15 - pressure sensor + * + * IO: + * IN4 - servo supply rail + * IN5 - analog RSSI + */ + +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 + #define ADC_BATTERY_VOLTAGE_CHANNEL 10 + #define ADC_AIRSPEED_VOLTAGE_CHANNEL 11 +#endif + +#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 + #define ADC_BATTERY_VOLTAGE_CHANNEL 2 + #define ADC_BATTERY_CURRENT_CHANNEL 3 + #define ADC_5V_RAIL_SENSE 4 + #define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 +#endif #define BAT_VOL_INITIAL 0.f #define BAT_VOL_LOWPASS_1 0.99f |