AP_Airspeed Class Reference

#include <AP_Airspeed.h>

Collaboration diagram for AP_Airspeed:

Classes
struct	airspeed_state

Public Types
enum	pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE = 0, PITOT_TUBE_ORDER_NEGATIVE = 1, PITOT_TUBE_ORDER_AUTO = 2 }
enum	airspeed_type {   TYPE_NONE =0, TYPE_I2C_MS4525 =1, TYPE_ANALOG =2, TYPE_I2C_MS5525 =3,   TYPE_I2C_MS5525_ADDRESS_1 =4, TYPE_I2C_MS5525_ADDRESS_2 =5, TYPE_I2C_SDP3X =6 }

Public Member Functions
	AP_Airspeed ()
void	init (void)
void	read (void)
void	calibrate (bool in_startup)
float	get_airspeed (uint8_t i) const
float	get_airspeed (void) const
float	get_raw_airspeed (uint8_t i) const
float	get_raw_airspeed (void) const
float	get_airspeed_ratio (uint8_t i) const
float	get_airspeed_ratio (void) const
bool	get_temperature (uint8_t i, float &temperature)
bool	get_temperature (float &temperature)
void	set_airspeed_ratio (uint8_t i, float ratio)
void	set_airspeed_ratio (float ratio)
bool	use (uint8_t i) const
bool	use (void) const
bool	enabled (uint8_t i) const
bool	enabled (void) const
void	set_HIL (float airspeed)
float	get_differential_pressure (uint8_t i) const
float	get_differential_pressure (void) const
float	get_offset (uint8_t i) const
float	get_offset (void) const
float	get_corrected_pressure (uint8_t i) const
float	get_corrected_pressure (void) const
void	set_EAS2TAS (uint8_t i, float v)
void	set_EAS2TAS (float v)
float	get_EAS2TAS (uint8_t i) const
float	get_EAS2TAS (void) const
void	update_calibration (const Vector3f &vground, int16_t max_airspeed_allowed_during_cal)
void	log_mavlink_send (mavlink_channel_t chan, const Vector3f &vground)
bool	healthy (uint8_t i) const
bool	healthy (void) const
bool	all_healthy (void) const
void	setHIL (float pressure)
uint32_t	last_update_ms (uint8_t i) const
uint32_t	last_update_ms (void) const
void	setHIL (float airspeed, float diff_pressure, float temperature)
uint8_t	get_primary (void) const

Static Public Member Functions
static AP_Airspeed *	get_singleton ()

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	read (uint8_t i)
float	get_pressure (uint8_t i)
void	update_calibration (uint8_t i, float raw_pressure)
void	update_calibration (uint8_t i, const Vector3f &vground, int16_t max_airspeed_allowed_during_cal)

Private Attributes
AP_Int8	primary_sensor
struct {
AP_Float   offset
AP_Float   ratio
AP_Float   psi_range
AP_Int8   use
AP_Int8   type
AP_Int8   pin
AP_Int8   bus
AP_Int8   autocal
AP_Int8   tube_order
AP_Int8   skip_cal
}	param [AIRSPEED_MAX_SENSORS]
struct AP_Airspeed::airspeed_state	state [AIRSPEED_MAX_SENSORS]
uint8_t	primary
AP_Airspeed_Backend *	sensor [AIRSPEED_MAX_SENSORS]

Static Private Attributes
static AP_Airspeed *	_singleton

Friends
class	AP_Airspeed_Backend

Detailed Description

Definition at line 35 of file AP_Airspeed.h.

Member Enumeration Documentation

airspeed_type

enum AP_Airspeed::airspeed_type

Enumerator
TYPE_NONE
TYPE_I2C_MS4525
TYPE_ANALOG
TYPE_I2C_MS5525
TYPE_I2C_MS5525_ADDRESS_1
TYPE_I2C_MS5525_ADDRESS_2
TYPE_I2C_SDP3X

Definition at line 157 of file AP_Airspeed.h.

pitot_tube_order

enum AP_Airspeed::pitot_tube_order

Enumerator
PITOT_TUBE_ORDER_POSITIVE
PITOT_TUBE_ORDER_NEGATIVE
PITOT_TUBE_ORDER_AUTO

Definition at line 153 of file AP_Airspeed.h.

Constructor & Destructor Documentation

AP_Airspeed()

AP_Airspeed::AP_Airspeed

(

)

Definition at line 198 of file AP_Airspeed.cpp.

Here is the call graph for this function:

Member Function Documentation

all_healthy()

bool AP_Airspeed::all_healthy

(

void

)

const

Definition at line 449 of file AP_Airspeed.cpp.

Here is the call graph for this function:

calibrate()

void AP_Airspeed::calibrate

(

bool

in_startup

)

Definition at line 292 of file AP_Airspeed.cpp.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration_baro(), and setup().

Here is the call graph for this function:

Here is the caller graph for this function:

enabled() [1/2]

bool AP_Airspeed::enabled ( uint8_t  i ) const

inline

Definition at line 85 of file AP_Airspeed.h.

Referenced by AP_Arming::airspeed_checks(), AP_Frsky_Telem::calc_velandyaw(), and DataFlash_Class::Log_Write_Airspeed().

Here is the caller graph for this function:

enabled() [2/2]

bool AP_Airspeed::enabled ( void  ) const

inline

Definition at line 91 of file AP_Airspeed.h.

Referenced by all_healthy(), calibrate(), enabled(), get_pressure(), get_temperature(), read(), setHIL(), and update_calibration().

Here is the call graph for this function:

Here is the caller graph for this function:

get_airspeed() [1/2]

float AP_Airspeed::get_airspeed ( uint8_t  i ) const

inline

Definition at line 53 of file AP_Airspeed.h.

Referenced by AP_AHRS_DCM::airspeed_estimate(), AP_AHRS::airspeed_estimate(), AP_Frsky_Telem::calc_velandyaw(), NavEKF2_core::detectFlight(), NavEKF3_core::detectFlight(), AP_AHRS_DCM::drift_correction(), AP_AHRS_DCM::estimate_wind(), loop(), NavEKF2_core::readAirSpdData(), and GCS_MAVLINK::vfr_hud_airspeed().

Here is the caller graph for this function:

get_airspeed() [2/2]

float AP_Airspeed::get_airspeed ( void  ) const

inline

Definition at line 56 of file AP_Airspeed.h.

Referenced by get_airspeed(), and read().

Here is the call graph for this function:

Here is the caller graph for this function:

get_airspeed_ratio() [1/2]

float AP_Airspeed::get_airspeed_ratio ( uint8_t  i ) const

inline

Definition at line 65 of file AP_Airspeed.h.

Referenced by AP_Airspeed_Backend::get_airspeed_ratio().

Here is the caller graph for this function:

get_airspeed_ratio() [2/2]

float AP_Airspeed::get_airspeed_ratio ( void  ) const

inline

Definition at line 68 of file AP_Airspeed.h.

Referenced by get_airspeed_ratio().

Here is the call graph for this function:

Here is the caller graph for this function:

get_corrected_pressure() [1/2]

float AP_Airspeed::get_corrected_pressure ( uint8_t  i ) const

inline

Definition at line 111 of file AP_Airspeed.h.

Referenced by DataFlash_Class::Log_Write_Airspeed().

Here is the caller graph for this function:

get_corrected_pressure() [2/2]

float AP_Airspeed::get_corrected_pressure ( void  ) const

inline

Definition at line 114 of file AP_Airspeed.h.

Referenced by get_corrected_pressure().

Here is the call graph for this function:

Here is the caller graph for this function:

get_differential_pressure() [1/2]

float AP_Airspeed::get_differential_pressure ( uint8_t  i ) const

inline

Definition at line 99 of file AP_Airspeed.h.

Referenced by DataFlash_Class::Log_Write_Airspeed(), and GCS_MAVLINK::send_scaled_pressure().

Here is the caller graph for this function:

get_differential_pressure() [2/2]

float AP_Airspeed::get_differential_pressure ( void  ) const

inline

Definition at line 102 of file AP_Airspeed.h.

Referenced by get_differential_pressure().

Here is the call graph for this function:

Here is the caller graph for this function:

get_EAS2TAS() [1/2]

float AP_Airspeed::get_EAS2TAS ( uint8_t  i ) const

inline

Definition at line 123 of file AP_Airspeed.h.

Referenced by NavEKF2_core::detectFlight(), NavEKF3_core::detectFlight(), AP_AHRS::get_EAS2TAS(), NavEKF2_core::readAirSpdData(), and NavEKF3_core::readAirSpdData().

Here is the caller graph for this function:

get_EAS2TAS() [2/2]

float AP_Airspeed::get_EAS2TAS ( void  ) const

inline

Definition at line 126 of file AP_Airspeed.h.

Referenced by get_EAS2TAS().

Here is the call graph for this function:

Here is the caller graph for this function:

get_offset() [1/2]

float AP_Airspeed::get_offset ( uint8_t  i ) const

inline

Definition at line 105 of file AP_Airspeed.h.

Referenced by DataFlash_Class::Log_Write_Airspeed().

Here is the caller graph for this function:

get_offset() [2/2]

float AP_Airspeed::get_offset ( void  ) const

inline

Definition at line 108 of file AP_Airspeed.h.

Referenced by get_offset().

Here is the call graph for this function:

Here is the caller graph for this function:

get_pressure()

float AP_Airspeed::get_pressure ( uint8_t  i )

private

Definition at line 262 of file AP_Airspeed.cpp.

Referenced by read().

Here is the call graph for this function:

Here is the caller graph for this function:

get_primary()

uint8_t AP_Airspeed::get_primary ( void  ) const

inline

Definition at line 168 of file AP_Airspeed.h.

Referenced by DataFlash_Class::Log_Write_Airspeed().

Here is the caller graph for this function:

get_raw_airspeed() [1/2]

float AP_Airspeed::get_raw_airspeed ( uint8_t  i ) const

inline

Definition at line 59 of file AP_Airspeed.h.

Referenced by DataFlash_Class::Log_Write_Airspeed(), and NavEKF3_core::readAirSpdData().

Here is the caller graph for this function:

get_raw_airspeed() [2/2]

float AP_Airspeed::get_raw_airspeed ( void  ) const

inline

Definition at line 62 of file AP_Airspeed.h.

Referenced by get_raw_airspeed().

Here is the call graph for this function:

Here is the caller graph for this function:

get_singleton()

static AP_Airspeed* AP_Airspeed::get_singleton ( )

inlinestatic

Definition at line 170 of file AP_Airspeed.h.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration_baro(), GCS_MAVLINK::send_scaled_pressure(), and GCS_MAVLINK::vfr_hud_airspeed().

Here is the caller graph for this function:

get_temperature() [1/2]

bool AP_Airspeed::get_temperature	(	uint8_t	i,
		float &	temperature
	)

Definition at line 279 of file AP_Airspeed.cpp.

Referenced by DataFlash_Class::Log_Write_Airspeed(), and loop().

Here is the call graph for this function:

Here is the caller graph for this function:

get_temperature() [2/2]

bool AP_Airspeed::get_temperature ( float &  temperature )

inline

Definition at line 72 of file AP_Airspeed.h.

Referenced by get_temperature().

Here is the call graph for this function:

Here is the caller graph for this function:

healthy() [1/2]

bool AP_Airspeed::healthy ( uint8_t  i ) const

inline

Definition at line 135 of file AP_Airspeed.h.

Referenced by AP_Arming::airspeed_checks(), AP_AHRS::airspeed_sensor_enabled(), DataFlash_Class::Log_Write_Airspeed(), loop(), and GCS_MAVLINK::vfr_hud_airspeed().

Here is the caller graph for this function:

healthy() [2/2]

bool AP_Airspeed::healthy ( void  ) const

inline

Definition at line 138 of file AP_Airspeed.h.

Referenced by all_healthy(), healthy(), read(), and update_calibration().

Here is the call graph for this function:

Here is the caller graph for this function:

init()

void AP_Airspeed::init

(

void

)

Definition at line 219 of file AP_Airspeed.cpp.

Referenced by setup().

Here is the call graph for this function:

Here is the caller graph for this function:

last_update_ms() [1/2]

uint32_t AP_Airspeed::last_update_ms ( uint8_t  i ) const

inline

Definition at line 146 of file AP_Airspeed.h.

Referenced by NavEKF2_core::readAirSpdData(), and NavEKF3_core::readAirSpdData().

Here is the caller graph for this function:

last_update_ms() [2/2]

uint32_t AP_Airspeed::last_update_ms ( void  ) const

inline

Definition at line 147 of file AP_Airspeed.h.

Referenced by last_update_ms().

Here is the call graph for this function:

Here is the caller graph for this function:

log_mavlink_send()

void AP_Airspeed::log_mavlink_send	(	mavlink_channel_t	chan,
		const Vector3f &	vground
	)

Definition at line 163 of file Airspeed_Calibration.cpp.

read() [1/2]

void AP_Airspeed::read

(

void

)

Definition at line 395 of file AP_Airspeed.cpp.

Referenced by loop().

Here is the call graph for this function:

Here is the caller graph for this function:

read() [2/2]

void AP_Airspeed::read ( uint8_t  i )

private

Definition at line 344 of file AP_Airspeed.cpp.

Here is the call graph for this function:

set_airspeed_ratio() [1/2]

void AP_Airspeed::set_airspeed_ratio ( uint8_t  i, float  ratio  )

inline

Definition at line 75 of file AP_Airspeed.h.

set_airspeed_ratio() [2/2]

void AP_Airspeed::set_airspeed_ratio ( float  ratio )

inline

Definition at line 78 of file AP_Airspeed.h.

Referenced by set_airspeed_ratio().

Here is the call graph for this function:

Here is the caller graph for this function:

set_EAS2TAS() [1/2]

void AP_Airspeed::set_EAS2TAS ( uint8_t  i, float  v  )

inline

Definition at line 117 of file AP_Airspeed.h.

set_EAS2TAS() [2/2]

void AP_Airspeed::set_EAS2TAS ( float  v )

inline

Definition at line 120 of file AP_Airspeed.h.

Referenced by set_EAS2TAS().

Here is the call graph for this function:

Here is the caller graph for this function:

set_HIL()

void AP_Airspeed::set_HIL ( float  airspeed )

inline

Definition at line 94 of file AP_Airspeed.h.

setHIL() [1/2]

void AP_Airspeed::setHIL ( float  pressure )

inline

Definition at line 143 of file AP_Airspeed.h.

setHIL() [2/2]

void AP_Airspeed::setHIL	(	float	airspeed,
		float	diff_pressure,
		float	temperature
	)

Definition at line 421 of file AP_Airspeed.cpp.

Here is the call graph for this function:

update_calibration() [1/3]

void AP_Airspeed::update_calibration	(	const Vector3f &	vground,
		int16_t	max_airspeed_allowed_during_cal
	)

Definition at line 155 of file Airspeed_Calibration.cpp.

Referenced by read().

Here is the caller graph for this function:

update_calibration() [2/3]

void AP_Airspeed::update_calibration ( uint8_t  i, float  raw_pressure  )

private

Definition at line 316 of file AP_Airspeed.cpp.

Here is the call graph for this function:

update_calibration() [3/3]

void AP_Airspeed::update_calibration ( uint8_t  i, const Vector3f &  vground, int16_t  max_airspeed_allowed_during_cal  )

private

Definition at line 113 of file Airspeed_Calibration.cpp.

Here is the call graph for this function:

use() [1/2]

bool AP_Airspeed::use

(

uint8_t

i

)

const

use() [2/2]

bool AP_Airspeed::use ( void  ) const

inline

Definition at line 82 of file AP_Airspeed.h.

Referenced by setHIL(), and use().

Here is the call graph for this function:

Here is the caller graph for this function:

Friends And Related Function Documentation

AP_Airspeed_Backend

friend class AP_Airspeed_Backend

friend

Definition at line 38 of file AP_Airspeed.h.

Member Data Documentation

_singleton

AP_Airspeed * AP_Airspeed::_singleton

staticprivate

Definition at line 173 of file AP_Airspeed.h.

Referenced by all_healthy(), and AP_Airspeed().

autocal

AP_Int8 AP_Airspeed::autocal

Definition at line 185 of file AP_Airspeed.h.

bus

AP_Int8 AP_Airspeed::bus

Definition at line 184 of file AP_Airspeed.h.

Referenced by AP_Airspeed_Backend::get_bus().

offset

AP_Float AP_Airspeed::offset

Definition at line 178 of file AP_Airspeed.h.

Referenced by AP_Airspeed_Backend::set_offset().

param

struct { ... } AP_Airspeed::param[AIRSPEED_MAX_SENSORS]

Referenced by calibrate(), AP_Airspeed_Backend::get_bus(), AP_Airspeed_Backend::get_pin(), AP_Airspeed_Backend::get_psi_range(), AP_Airspeed_Backend::get_tube_order(), init(), read(), AP_Airspeed_Backend::set_offset(), AP_Airspeed_Backend::set_skip_cal(), setHIL(), and update_calibration().

pin

AP_Int8 AP_Airspeed::pin

Definition at line 183 of file AP_Airspeed.h.

Referenced by AP_Airspeed_Backend::get_pin(), and init().

primary

uint8_t AP_Airspeed::primary

private

Definition at line 217 of file AP_Airspeed.h.

Referenced by read().

primary_sensor

AP_Int8 AP_Airspeed::primary_sensor

private

Definition at line 175 of file AP_Airspeed.h.

Referenced by read().

psi_range

AP_Float AP_Airspeed::psi_range

Definition at line 180 of file AP_Airspeed.h.

Referenced by AP_Airspeed_Backend::get_psi_range().

ratio

AP_Float AP_Airspeed::ratio

Definition at line 179 of file AP_Airspeed.h.

Referenced by init(), and read().

sensor

AP_Airspeed_Backend* AP_Airspeed::sensor[AIRSPEED_MAX_SENSORS]

private

Definition at line 226 of file AP_Airspeed.h.

Referenced by get_pressure(), get_temperature(), init(), and read().

skip_cal

AP_Int8 AP_Airspeed::skip_cal

Definition at line 187 of file AP_Airspeed.h.

Referenced by calibrate(), and AP_Airspeed_Backend::set_skip_cal().

state

struct AP_Airspeed::airspeed_state AP_Airspeed::state[AIRSPEED_MAX_SENSORS]

private

Referenced by AP_Airspeed(), calibrate(), get_pressure(), init(), read(), AP_Airspeed_Backend::set_use_zero_offset(), setHIL(), and update_calibration().

tube_order

AP_Int8 AP_Airspeed::tube_order

Definition at line 186 of file AP_Airspeed.h.

Referenced by AP_Airspeed_Backend::get_tube_order(), and read().

type

AP_Int8 AP_Airspeed::type

Definition at line 182 of file AP_Airspeed.h.

Referenced by init().

use

bool AP_Airspeed::use

Definition at line 181 of file AP_Airspeed.h.

Referenced by AP_Arming::airspeed_checks(), AP_AHRS::airspeed_sensor_enabled(), DataFlash_Class::Log_Write_Airspeed(), NavEKF2_core::readAirSpdData(), and NavEKF3_core::readAirSpdData().

var_info

const AP_Param::GroupInfo AP_Airspeed::var_info

static

Definition at line 151 of file AP_Airspeed.h.

Referenced by AP_Airspeed(), and setup().

---

The documentation for this class was generated from the following files:

• libraries/AP_Airspeed/AP_Airspeed.h
• libraries/AP_Airspeed/Airspeed_Calibration.cpp
• libraries/AP_Airspeed/AP_Airspeed.cpp