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Plane: add As5600 angle-of-attack sensor #16795

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Plane: add As5600 angle-of-attack sensor #16795

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c2fbc83
Adds AS5600 library
colejmero Feb 23, 2021
a5f0f81
SITL: add simulated AS5600 sensor
peterbarker Jan 21, 2021
da95f43
Minor changes
colejmero Feb 25, 2021
20ed5a4
Solves AS5600 communication issue on SITL
colejmero Mar 1, 2021
f223c83
Removes unecessary code
colejmero Mar 3, 2021
f24e111
Commit for peter to review
colejmero Mar 5, 2021
c26e328
Adds recommended changes from previous PR review
colejmero Mar 5, 2021
82225f8
AP_AS5600_AOA: use a thread to read AOA sensor
peterbarker Mar 11, 2021
892bb6e
AS5600: Commit for Peter to review bug
colejmero Mar 15, 2021
43c25dd
AS5600: Adds line forgoten from previous commit
colejmero Mar 15, 2021
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1,297 changes: 1,297 additions & 0 deletions ArduCopter/mav_0_1.parm
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11 changes: 10 additions & 1 deletion ArduPlane/ArduPlane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,8 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(navigate, 10, 150),
SCHED_TASK(update_compass, 10, 200),
SCHED_TASK(read_airspeed, 10, 100),
SCHED_TASK(update_alt, 10, 200),
SCHED_TASK(read_aoa, 10, 200),
SCHED_TASK(update_alt, 10, 200),//This line added by Cole
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SCHED_TASK(adjust_altitude_target, 10, 200),
#if ADVANCED_FAILSAFE == ENABLED
SCHED_TASK(afs_fs_check, 10, 100),
Expand Down Expand Up @@ -193,6 +194,14 @@ void Plane::update_compass(void)
}
}

/*
* Read and log Angle of Attack This function is code added by Cole
*/

void Plane::read_aoa(void){
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aoa_sensor.getRawAngle();
}

/*
do 10Hz logging
*/
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4 changes: 4 additions & 0 deletions ArduPlane/Plane.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@
#include <AP_OSD/AP_OSD.h>

#include <AP_Rally/AP_Rally.h>
#include <AP_AS5600_AOA/AS5600_AOA.h> //Magnetic Encoder library, line added by Cole

#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#include <AP_Parachute/AP_Parachute.h>
Expand Down Expand Up @@ -196,6 +197,8 @@ class Plane : public AP_Vehicle {

AP_RPM rpm_sensor;

AS5600_AOA aoa_sensor; //This line added by Cole

AP_TECS TECS_controller{ahrs, aparm, landing};
AP_L1_Control L1_controller{ahrs, &TECS_controller};

Expand Down Expand Up @@ -996,6 +999,7 @@ class Plane : public AP_Vehicle {
void read_airspeed(void);
void rpm_update(void);
void accel_cal_update(void);
void read_aoa(void); //This line added by Cole
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// system.cpp
void init_ardupilot() override;
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