ArduPlane: Plane: add test bits for AOA_SSA

Some changes.
ArduPilot · May 18, 2023 · a0af225 · a0af225
1 parent a73ef13
commit a0af225
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Showing 4 changed files with 11 additions and 0 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -70,6 +70,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_compass,         10,    200,  39),
     SCHED_TASK(calc_airspeed_errors,   10,    100,  42),
     SCHED_TASK(update_alt,             10,    200,  45),
+    SCHED_TASK_CLASS(AP_AngleSensor_AS5600,        &plane.aoa_sensor, update, 10,    200,  46),
     SCHED_TASK(adjust_altitude_target, 10,    200,  48),
 #if AP_ADVANCEDFAILSAFE_ENABLED
     SCHED_TASK(afs_fs_check,           10,    100,  51),
@@ -226,6 +227,7 @@ void Plane::update_compass(void)
     compass.read();
 }
 
+
 /*
   do 10Hz logging
  */

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -75,6 +75,7 @@
 #include <AP_OSD/AP_OSD.h>
 
 #include <AP_Rally/AP_Rally.h>
+#include <AP_AngleSensor/AS5600.h> //Magnetic Encoder library, line added by Cole
 
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_Parachute/AP_Parachute.h>
@@ -89,6 +90,8 @@
 #include "quadplane.h"
 #include "tuning.h"
 
+
+
 // Configuration
 #include "config.h"
 
@@ -198,6 +201,8 @@ class Plane : public AP_Vehicle {
     AP_RPM rpm_sensor;
 #endif
 
+    AP_AngleSensor_AS5600 aoa_sensor{2, 0x36};                                             //This is code added by Cole
+
     AP_TECS TECS_controller{ahrs, aparm, landing, MASK_LOG_TECS};
     AP_L1_Control L1_controller{ahrs, &TECS_controller};
 

diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
@@ -155,6 +155,9 @@ void Plane::init_ardupilot()
 #if AP_GRIPPER_ENABLED
     g2.gripper.init();
 #endif
+
+    //Code added by Cole, initialize AS5600 sensor
+    aoa_sensor.init();
 }
 
 //********************************************************************************

diff --git a/ArduPlane/wscript b/ArduPlane/wscript
@@ -28,6 +28,7 @@ def build(bld):
             'AP_Devo_Telem',
             'AP_OSD',
             'AC_AutoTune',
+            'AP_AngleSensor',
             'AP_Follow',
         ],
     )