AP_Baro Class Reference

#include <AP_Baro.h>

Collaboration diagram for AP_Baro:

Classes
struct	sensor

Public Types
enum	baro_type_t { BARO_TYPE_AIR, BARO_TYPE_WATER }

Public Member Functions
	AP_Baro ()
	AP_Baro (const AP_Baro &other)=delete
AP_Baro &	operator= (const AP_Baro &)=delete
void	init (void)
void	update (void)
bool	healthy (void) const
bool	healthy (uint8_t instance) const
bool	all_healthy (void) const
float	get_pressure (void) const
float	get_pressure (uint8_t instance) const
float	get_temperature (void) const
float	get_temperature (uint8_t instance) const
float	get_pressure_correction (void) const
float	get_pressure_correction (uint8_t instance) const
void	accumulate (void)
void	calibrate (bool save=true)
void	update_calibration (void)
float	get_altitude (void) const
float	get_altitude (uint8_t instance) const
float	get_altitude_difference (float base_pressure, float pressure) const
float	get_EAS2TAS (void)
float	get_air_density_ratio (void)
float	get_climb_rate (void)
float	get_ground_temperature (void) const
float	get_ground_pressure (void) const
float	get_ground_pressure (uint8_t i) const
void	set_external_temperature (float temperature)
uint32_t	get_last_update (void) const
uint32_t	get_last_update (uint8_t instance) const
float	get_external_temperature (void) const
float	get_external_temperature (const uint8_t instance) const
void	setHIL (float altitude_msl)
void	setHIL (uint8_t instance, float pressure, float temperature, float altitude, float climb_rate, uint32_t last_update_ms)
void	set_primary_baro (uint8_t primary)
void	set_type (uint8_t instance, baro_type_t type)
baro_type_t	get_type (uint8_t instance)
uint8_t	register_sensor (void)
uint8_t	num_instances (void) const
void	set_hil_mode (void)
void	set_baro_drift_altitude (float alt)
float	get_baro_drift_offset (void)
void	set_pressure_correction (uint8_t instance, float p_correction)
uint8_t	get_filter_range () const
void	set_log_baro_bit (uint32_t bit)
bool	should_df_log () const

Static Public Member Functions
static AP_Baro *	get_instance (void)
static void	SimpleAtmosphere (const float alt, float &sigma, float &delta, float &theta)
static void	SimpleUnderWaterAtmosphere (float alt, float &rho, float &delta, float &theta)

Public Attributes
struct {
float   pressure
float   temperature
float   altitude
float   climb_rate
uint32_t   last_update_ms
bool   updated:1
bool   have_alt:1
bool   have_last_update:1
}	_hil

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

Private Member Functions
bool	_add_backend (AP_Baro_Backend *backend)

Private Attributes
uint8_t	_num_drivers
AP_Baro_Backend *	drivers [BARO_MAX_DRIVERS]
uint8_t	_num_sensors
uint8_t	_primary
uint32_t	_log_baro_bit = -1
struct AP_Baro::sensor	sensors [BARO_MAX_INSTANCES]
AP_Float	_alt_offset
float	_alt_offset_active
AP_Int8	_primary_baro
AP_Int8	_ext_bus
float	_last_altitude_EAS2TAS
float	_EAS2TAS
float	_external_temperature
uint32_t	_last_external_temperature_ms
DerivativeFilterFloat_Size7	_climb_rate_filter
AP_Float	_specific_gravity
AP_Float	_user_ground_temperature
bool	_hil_mode:1
float	_guessed_ground_temperature
uint32_t	_last_notify_ms
AP_Int8	_filter_range

Static Private Attributes
static AP_Baro *	_instance

Friends
class	AP_Baro_Backend
class	AP_Baro_SITL

Detailed Description

Definition at line 21 of file AP_Baro.h.

Member Enumeration Documentation

baro_type_t

enum AP_Baro::baro_type_t

Enumerator
BARO_TYPE_AIR
BARO_TYPE_WATER

Definition at line 39 of file AP_Baro.h.

Constructor & Destructor Documentation

AP_Baro() [1/2]

AP_Baro::AP_Baro

(

)

Definition at line 155 of file AP_Baro.cpp.

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AP_Baro() [2/2]

AP_Baro::AP_Baro ( const AP_Baro &  other )

delete

Member Function Documentation

_add_backend()

bool AP_Baro::_add_backend ( AP_Baro_Backend *  backend )

private

Definition at line 371 of file AP_Baro.cpp.

Referenced by init().

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accumulate()

void AP_Baro::accumulate

(

void

)

Definition at line 694 of file AP_Baro.cpp.

Referenced by get_pressure_correction(), and loop().

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all_healthy()

bool AP_Baro::all_healthy

(

void

)

const

Definition at line 717 of file AP_Baro.cpp.

Referenced by healthy().

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calibrate()

void AP_Baro::calibrate

(

bool

save = true

)

Definition at line 164 of file AP_Baro.cpp.

Referenced by get_pressure_correction(), and setup().

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get_air_density_ratio()

float AP_Baro::get_air_density_ratio

(

void

)

Definition at line 306 of file AP_Baro.cpp.

Referenced by get_altitude().

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get_altitude() [1/2]

float AP_Baro::get_altitude ( void  ) const

inline

Definition at line 84 of file AP_Baro.h.

Referenced by HALSITL::SITL_State::_simulator_servos(), get_altitude(), get_EAS2TAS(), AP_AHRS_DCM::get_position(), AP_AHRS_DCM::get_relative_position_D_home(), AP_AHRS_NavEKF::get_relative_position_D_home(), DataFlash_Class::Log_Write_Baro_instance(), loop(), NavEKF2_core::readBaroData(), NavEKF3_core::readBaroData(), update(), and AP_TECS::update_50hz().

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get_altitude() [2/2]

float AP_Baro::get_altitude ( uint8_t  instance ) const

inline

Definition at line 85 of file AP_Baro.h.

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get_altitude_difference()

float AP_Baro::get_altitude_difference	(	float	base_pressure,
		float	pressure
	)		const

Definition at line 271 of file AP_Baro.cpp.

Referenced by AP_AdvancedFailsafe::check_altlimit(), get_altitude(), AP_ADSB::send_dynamic_out(), and update().

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get_baro_drift_offset()

float AP_Baro::get_baro_drift_offset ( void  )

inline

Definition at line 167 of file AP_Baro.h.

Referenced by DataFlash_Class::Log_Write_Baro_instance().

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get_climb_rate()

float AP_Baro::get_climb_rate

(

void

)

Definition at line 319 of file AP_Baro.cpp.

Referenced by get_altitude(), DataFlash_Class::Log_Write_Baro_instance(), and loop().

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get_EAS2TAS()

float AP_Baro::get_EAS2TAS

(

void

)

Definition at line 288 of file AP_Baro.cpp.

Referenced by get_air_density_ratio(), and get_altitude().

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get_external_temperature() [1/2]

float AP_Baro::get_external_temperature ( void  ) const

inline

Definition at line 122 of file AP_Baro.h.

Referenced by calibrate(), get_external_temperature(), and update_calibration().

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get_external_temperature() [2/2]

float AP_Baro::get_external_temperature

(

const uint8_t

instance

)

const

Definition at line 353 of file AP_Baro.cpp.

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get_filter_range()

uint8_t AP_Baro::get_filter_range ( ) const

inline

Definition at line 178 of file AP_Baro.h.

Referenced by AP_Baro_Backend::pressure_ok().

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get_ground_pressure() [1/2]

float AP_Baro::get_ground_pressure ( void  ) const

inline

Definition at line 107 of file AP_Baro.h.

Referenced by get_ground_pressure(), GCS_MAVLINK::send_scaled_pressure(), and GCS_MAVLINK::send_scaled_pressure3().

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get_ground_pressure() [2/2]

float AP_Baro::get_ground_pressure ( uint8_t  i ) const

inline

Definition at line 108 of file AP_Baro.h.

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get_ground_temperature()

float AP_Baro::get_ground_temperature

(

void

)

const

Definition at line 331 of file AP_Baro.cpp.

Referenced by get_altitude(), get_altitude_difference(), get_EAS2TAS(), and DataFlash_Class::Log_Write_Baro_instance().

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get_instance()

static AP_Baro* AP_Baro::get_instance ( void  )

inlinestatic

Definition at line 34 of file AP_Baro.h.

Referenced by AP_Airspeed_SDP3X::_correct_pressure(), and AP::baro().

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get_last_update() [1/2]

uint32_t AP_Baro::get_last_update ( void  ) const

inline

Definition at line 116 of file AP_Baro.h.

Referenced by AP_AdvancedFailsafe::check_altlimit(), get_last_update(), DataFlash_Class::Log_Write_Baro_instance(), NavEKF2_core::readBaroData(), NavEKF3_core::readBaroData(), and update().

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get_last_update() [2/2]

uint32_t AP_Baro::get_last_update ( uint8_t  instance ) const

inline

Definition at line 117 of file AP_Baro.h.

get_pressure() [1/2]

float AP_Baro::get_pressure ( void  ) const

inline

Definition at line 59 of file AP_Baro.h.

Referenced by AP_Airspeed_SDP3X::_correct_pressure(), HALSITL::SITL_State::_update_airspeed(), AP_AdvancedFailsafe::check_altlimit(), get_EAS2TAS(), get_pressure(), AP_TempCalibration::learn_calibration(), DataFlash_Class::Log_Write_Baro_instance(), loop(), AP_ADSB::send_dynamic_out(), GCS_MAVLINK::send_scaled_pressure(), GCS_MAVLINK::send_scaled_pressure3(), GCS_MAVLINK::send_sensor_offsets(), and update_calibration().

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get_pressure() [2/2]

float AP_Baro::get_pressure ( uint8_t  instance ) const

inline

Definition at line 60 of file AP_Baro.h.

get_pressure_correction() [1/2]

float AP_Baro::get_pressure_correction ( void  ) const

inline

Definition at line 67 of file AP_Baro.h.

Referenced by get_pressure_correction().

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get_pressure_correction() [2/2]

float AP_Baro::get_pressure_correction ( uint8_t  instance ) const

inline

Definition at line 68 of file AP_Baro.h.

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get_temperature() [1/2]

float AP_Baro::get_temperature ( void  ) const

inline

Definition at line 63 of file AP_Baro.h.

Referenced by AP_TempCalibration::apply_calibration(), get_external_temperature(), get_temperature(), AP_TempCalibration::learn_calibration(), DataFlash_Class::Log_Write_Baro_instance(), loop(), GCS_MAVLINK::send_scaled_pressure(), GCS_MAVLINK::send_scaled_pressure3(), GCS_MAVLINK::send_sensor_offsets(), and AP_TempCalibration::setup_learning().

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get_temperature() [2/2]

float AP_Baro::get_temperature ( uint8_t  instance ) const

inline

Definition at line 64 of file AP_Baro.h.

get_type()

baro_type_t AP_Baro::get_type ( uint8_t  instance )

inline

Definition at line 139 of file AP_Baro.h.

healthy() [1/2]

bool AP_Baro::healthy ( void  ) const

inline

Definition at line 52 of file AP_Baro.h.

Referenced by all_healthy(), AP_TempCalibration::apply_calibration(), calibrate(), healthy(), AP_TempCalibration::learn_calibration(), DataFlash_Class::Log_Write_Baro(), loop(), AP_ADSB::send_dynamic_out(), update(), and update_calibration().

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healthy() [2/2]

bool AP_Baro::healthy ( uint8_t  instance ) const

inline

Definition at line 53 of file AP_Baro.h.

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init()

void AP_Baro::init

(

void

)

Definition at line 398 of file AP_Baro.cpp.

Referenced by setup().

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num_instances()

uint8_t AP_Baro::num_instances ( void  ) const

inline

Definition at line 158 of file AP_Baro.h.

Referenced by DataFlash_Class::Log_Write_Baro(), GCS_MAVLINK::send_scaled_pressure(), and GCS_MAVLINK::send_scaled_pressure3().

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operator=()

AP_Baro& AP_Baro::operator= ( const AP_Baro &  )

delete

register_sensor()

uint8_t AP_Baro::register_sensor

(

void

)

Definition at line 705 of file AP_Baro.cpp.

Referenced by AP_Baro_BMP085::_init(), AP_Baro_BMP280::_init(), AP_Baro_LPS2XH::_init(), AP_Baro_MS56XX::_init(), AP_Baro_KellerLD::_init(), AP_Baro_HIL::AP_Baro_HIL(), AP_Baro_SITL::AP_Baro_SITL(), AP_Baro_FBM320::init(), AP_Baro_DPS280::init(), and AP_Baro_ICM20789::init().

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set_baro_drift_altitude()

void AP_Baro::set_baro_drift_altitude ( float  alt )

inline

Definition at line 164 of file AP_Baro.h.

set_external_temperature()

void AP_Baro::set_external_temperature

(

float

temperature

)

Definition at line 344 of file AP_Baro.cpp.

Referenced by get_ground_pressure().

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set_hil_mode()

void AP_Baro::set_hil_mode ( void  )

inline

Definition at line 161 of file AP_Baro.h.

set_log_baro_bit()

void AP_Baro::set_log_baro_bit ( uint32_t  bit )

inline

Definition at line 181 of file AP_Baro.h.

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set_pressure_correction()

void AP_Baro::set_pressure_correction	(	uint8_t	instance,
		float	p_correction
	)

Definition at line 728 of file AP_Baro.cpp.

Referenced by AP_TempCalibration::apply_calibration(), and get_baro_drift_offset().

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set_primary_baro()

void AP_Baro::set_primary_baro ( uint8_t  primary )

inline

Definition at line 133 of file AP_Baro.h.

set_type()

void AP_Baro::set_type ( uint8_t  instance, baro_type_t  type  )

inline

Definition at line 136 of file AP_Baro.h.

Referenced by AP_Baro_MS56XX::_init(), AP_Baro_KellerLD::_init(), and AP_Baro_SITL::AP_Baro_SITL().

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setHIL() [1/2]

void AP_Baro::setHIL

(

float

altitude_msl

)

Definition at line 83 of file AP_Baro_HIL.cpp.

Referenced by get_external_temperature().

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setHIL() [2/2]

void AP_Baro::setHIL	(	uint8_t	instance,
		float	pressure,
		float	temperature,
		float	altitude,
		float	climb_rate,
		uint32_t	last_update_ms
	)

Definition at line 99 of file AP_Baro_HIL.cpp.

should_df_log()

bool AP_Baro::should_df_log

(

)

const

Definition at line 603 of file AP_Baro.cpp.

Referenced by set_log_baro_bit(), and update().

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SimpleAtmosphere()

void AP_Baro::SimpleAtmosphere ( const float  alt, float &  sigma, float &  delta, float &  theta  )

static

Definition at line 20 of file AP_Baro_HIL.cpp.

Referenced by AP_Baro_SITL::_timer(), and get_baro_drift_offset().

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SimpleUnderWaterAtmosphere()

void AP_Baro::SimpleUnderWaterAtmosphere ( float  alt, float &  rho, float &  delta, float &  theta  )

static

Definition at line 43 of file AP_Baro_HIL.cpp.

Referenced by AP_Baro_SITL::_timer(), and get_baro_drift_offset().

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update()

void AP_Baro::update

(

void

)

Definition at line 621 of file AP_Baro.cpp.

Referenced by calibrate(), and loop().

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update_calibration()

void AP_Baro::update_calibration

(

void

)

Definition at line 246 of file AP_Baro.cpp.

Referenced by GCS_MAVLINK::_handle_command_preflight_calibration_baro(), get_pressure_correction(), NavEKF2_core::resetHeightDatum(), and NavEKF3_core::resetHeightDatum().

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Friends And Related Function Documentation

AP_Baro_Backend

friend class AP_Baro_Backend

friend

Definition at line 23 of file AP_Baro.h.

AP_Baro_SITL

friend class AP_Baro_SITL

friend

Definition at line 24 of file AP_Baro.h.

Referenced by init().

Member Data Documentation

_alt_offset

AP_Float AP_Baro::_alt_offset

private

Definition at line 214 of file AP_Baro.h.

Referenced by calibrate(), set_baro_drift_altitude(), and update().

_alt_offset_active

float AP_Baro::_alt_offset_active

private

Definition at line 215 of file AP_Baro.h.

Referenced by get_baro_drift_offset(), and update().

_climb_rate_filter

DerivativeFilterFloat_Size7 AP_Baro::_climb_rate_filter

private

Definition at line 222 of file AP_Baro.h.

Referenced by get_climb_rate(), and update().

_EAS2TAS

float AP_Baro::_EAS2TAS

private

Definition at line 219 of file AP_Baro.h.

Referenced by get_EAS2TAS(), and update_calibration().

_ext_bus

AP_Int8 AP_Baro::_ext_bus

private

Definition at line 217 of file AP_Baro.h.

Referenced by init().

_external_temperature

float AP_Baro::_external_temperature

private

Definition at line 220 of file AP_Baro.h.

Referenced by get_external_temperature(), and set_external_temperature().

_filter_range

AP_Int8 AP_Baro::_filter_range

private

Definition at line 232 of file AP_Baro.h.

Referenced by get_filter_range().

_guessed_ground_temperature

float AP_Baro::_guessed_ground_temperature

private

Definition at line 226 of file AP_Baro.h.

Referenced by calibrate(), get_ground_temperature(), and update_calibration().

_hil

struct { ... } AP_Baro::_hil

Referenced by get_climb_rate(), AP_Baro_HIL::update(), and update().

_hil_mode

bool AP_Baro::_hil_mode

private

Definition at line 225 of file AP_Baro.h.

Referenced by init(), set_hil_mode(), and update().

_instance

AP_Baro * AP_Baro::_instance

staticprivate

Definition at line 186 of file AP_Baro.h.

Referenced by AP_Baro(), and get_instance().

_last_altitude_EAS2TAS

float AP_Baro::_last_altitude_EAS2TAS

private

Definition at line 218 of file AP_Baro.h.

Referenced by get_EAS2TAS().

_last_external_temperature_ms

uint32_t AP_Baro::_last_external_temperature_ms

private

Definition at line 221 of file AP_Baro.h.

Referenced by get_external_temperature(), and set_external_temperature().

_last_notify_ms

uint32_t AP_Baro::_last_notify_ms

private

Definition at line 229 of file AP_Baro.h.

Referenced by update_calibration().

_log_baro_bit

uint32_t AP_Baro::_log_baro_bit = -1

private

Definition at line 198 of file AP_Baro.h.

Referenced by set_log_baro_bit(), and should_df_log().

_num_drivers

uint8_t AP_Baro::_num_drivers

private

Definition at line 189 of file AP_Baro.h.

Referenced by _add_backend(), accumulate(), init(), and update().

_num_sensors

uint8_t AP_Baro::_num_sensors

private

Definition at line 193 of file AP_Baro.h.

Referenced by AP_Baro_Backend::_copy_to_frontend(), all_healthy(), calibrate(), init(), num_instances(), register_sensor(), set_pressure_correction(), update(), update_calibration(), and AP_Baro_Backend::update_healthy_flag().

_primary

uint8_t AP_Baro::_primary

private

Definition at line 196 of file AP_Baro.h.

Referenced by get_altitude(), get_external_temperature(), get_ground_pressure(), get_last_update(), get_pressure(), get_pressure_correction(), get_temperature(), healthy(), and update().

_primary_baro

AP_Int8 AP_Baro::_primary_baro

private

Definition at line 216 of file AP_Baro.h.

Referenced by set_primary_baro(), and update().

_specific_gravity

AP_Float AP_Baro::_specific_gravity

private

Definition at line 223 of file AP_Baro.h.

Referenced by update().

_user_ground_temperature

AP_Float AP_Baro::_user_ground_temperature

private

Definition at line 224 of file AP_Baro.h.

Referenced by get_ground_temperature(), and init().

altitude

float AP_Baro::altitude

Definition at line 145 of file AP_Baro.h.

Referenced by get_EAS2TAS(), get_external_temperature(), and update().

climb_rate

float AP_Baro::climb_rate

Definition at line 146 of file AP_Baro.h.

Referenced by get_external_temperature().

drivers

AP_Baro_Backend* AP_Baro::drivers[BARO_MAX_DRIVERS]

private

Definition at line 190 of file AP_Baro.h.

Referenced by _add_backend(), accumulate(), init(), and update().

have_alt

bool AP_Baro::have_alt

Definition at line 149 of file AP_Baro.h.

have_last_update

bool AP_Baro::have_last_update

Definition at line 150 of file AP_Baro.h.

last_update_ms

uint32_t AP_Baro::last_update_ms

Definition at line 147 of file AP_Baro.h.

Referenced by get_external_temperature().

pressure

float AP_Baro::pressure

Definition at line 143 of file AP_Baro.h.

Referenced by get_altitude(), and AP_Baro_HIL::update().

sensors

struct AP_Baro::sensor AP_Baro::sensors[BARO_MAX_INSTANCES]

private

Referenced by AP_Baro_Backend::_copy_to_frontend(), calibrate(), get_altitude(), get_ground_pressure(), get_last_update(), get_pressure(), get_pressure_correction(), get_temperature(), get_type(), healthy(), set_pressure_correction(), set_type(), update(), update_calibration(), AP_Baro_SITL::update_healthy_flag(), and AP_Baro_Backend::update_healthy_flag().

temperature

float AP_Baro::temperature

Definition at line 144 of file AP_Baro.h.

Referenced by get_ground_pressure(), set_external_temperature(), and AP_Baro_HIL::update().

updated

bool AP_Baro::updated

Definition at line 148 of file AP_Baro.h.

Referenced by AP_Baro_HIL::update().

var_info

const AP_Param::GroupInfo AP_Baro::var_info

static

Definition at line 120 of file AP_Baro.h.

Referenced by AP_Baro().

---

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

• libraries/AP_Baro/AP_Baro.h
• libraries/AP_Baro/AP_Baro.cpp
• libraries/AP_Baro/AP_Baro_HIL.cpp