Merge pull request #937 from gumstix/aerocore

Aerocore

3 files changed, 18 insertions, 3 deletions

diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 86f77cdb8..940a04aa1 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -206,7 +206,7 @@ int led_init()
 		return ERROR;
 	}
 
-	/* the blue LED is only available on FMUv1 but not FMUv2 */
+	/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
 	(void)ioctl(leds, LED_ON, LED_BLUE);
 
 	/* we consider the amber led mandatory */
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 07be3560a..c021e1fde 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -488,6 +488,15 @@ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000);
  * @group Battery Calibration
  */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);
+#elif CONFIG_ARCH_BOARD_AEROCORE
+/**
+ * Scaling factor for battery voltage sensor on AeroCore.
+ *
+ * For R70 = 133K, R71 = 10K --> scale = 1.8 * 143 / (4096*10) = 0.0063
+ *
+ * @group Battery Calibration
+ */
+PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0063f);
 #else
 /**
  * Scaling factor for battery voltage sensor on FMU v1.
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 8da6b06ef..c5954d02a 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -126,6 +126,12 @@
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_AEROCORE
+#define ADC_BATTERY_VOLTAGE_CHANNEL	10
+#define ADC_BATTERY_CURRENT_CHANNEL	-1
+#define ADC_AIRSPEED_VOLTAGE_CHANNEL	-1
+#endif
+
 #define BATT_V_LOWPASS 0.001f
 #define BATT_V_IGNORE_THRESHOLD 3.5f
 
@@ -797,7 +803,7 @@ Sensors::accel_init()
 		/* set the driver to poll at 1000Hz */
 		ioctl(fd, SENSORIOCSPOLLRATE, 1000);
 
-#elif CONFIG_ARCH_BOARD_PX4FMU_V2
+#elif CONFIG_ARCH_BOARD_PX4FMU_V2 || CONFIG_ARCH_BOARD_AEROCORE
 
 		/* set the accel internal sampling rate up to at leat 800Hz */
 		ioctl(fd, ACCELIOCSSAMPLERATE, 800);
@@ -806,7 +812,7 @@ Sensors::accel_init()
 		ioctl(fd, SENSORIOCSPOLLRATE, 800);
 
 #else
-#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1 or CONFIG_ARCH_BOARD_PX4FMU_V2
+#error Need a board configuration, either CONFIG_ARCH_BOARD_PX4FMU_V1, CONFIG_ARCH_BOARD_PX4FMU_V2 or CONFIG_ARCH_BOARD_AEROCORE
 
 #endif