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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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dc05ceaad2
- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration) - by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
117 lines
3.5 KiB
C++
117 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file rc_loss_alarm.cpp
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*
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*/
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#include "rc_loss_alarm.h"
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#include <px4_platform_common/defines.h>
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#include <drivers/drv_hrt.h>
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#include <stdint.h>
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#include <tunes/tune_definition.h>
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#include <uORB/topics/tune_control.h>
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namespace events
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{
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namespace rc_loss
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{
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void RC_Loss_Alarm::process()
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{
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vehicle_status_s status{};
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if (!_vehicle_status_sub.update(&status)) {
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return;
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}
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if (!_was_armed &&
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status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
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_was_armed = true; // Once true, impossible to go back to false
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}
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if (!_had_rc && !status.rc_signal_lost) {
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_had_rc = true;
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}
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if (_was_armed && _had_rc && status.rc_signal_lost &&
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status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
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play_tune();
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_alarm_playing = true;
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} else if (_alarm_playing) {
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stop_tune();
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_alarm_playing = false;
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}
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}
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void RC_Loss_Alarm::play_tune()
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{
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struct tune_control_s tune_control = {};
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tune_control.timestamp = hrt_absolute_time();
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tune_control.tune_id = static_cast<int>(TuneID::ERROR_TUNE);
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tune_control.tune_override = 1;
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tune_control.volume = tune_control_s::VOLUME_LEVEL_MAX;
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if (_tune_control_pub == nullptr) {
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_tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
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}
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}
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void RC_Loss_Alarm::stop_tune()
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{
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struct tune_control_s tune_control = {};
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tune_control.tune_override = true;
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tune_control.timestamp = hrt_absolute_time();
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if (_tune_control_pub == nullptr) {
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_tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
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} else {
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orb_publish(ORB_ID(tune_control), _tune_control_pub, &tune_control);
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}
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}
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} /* namespace rc_loss */
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} /* namespace events */
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