BaroAltimeter Class Reference

#include <baro_altimeter.h>

Inheritance diagram for BaroAltimeter:

Public Member Functions
	BaroAltimeter ()
	This class encompasses all functions to create a barometric altimeter for the drone, based on Adafruit's BMP388 sensor library. More...
bool	ConnectToSensor (TwoWire *userWire=&Wire2)
	Attempt to connect to the BMP388 pressure/temperature sensor by running Adafruit's BMP_3XX.begin() method. More...
bool	ConfigureSensorParams (uint8_t presOS=BMP3_NO_OVERSAMPLING, uint8_t tempOS=BMP3_NO_OVERSAMPLING, uint8_t iirCoef=BMP3_IIR_FILTER_COEFF_3, uint8_t sensODR=BMP3_ODR_50_HZ)
	Configure BMP388 oversampling, IIR filtering, and ODR. More...
bool	Initialize ()
	Initialize the altimeter class. More...
bool	SetMSLPres (float presMSL_Pa=101325.0f)
bool	ReadSensor ()
	Read raw pressure and temperature data from BMP388. More...
float	GetMSLPres ()
float	GetAltitudeMSL ()
float	GetAltitude ()
float	GetLaunchAltMSL ()
float	GetGroundPres ()
float	GetGroundTemp ()
float	GetPressure ()
float	GetTemp ()
float	GetVertSpeed ()

Public Attributes
bool	isMSLPSet
bool	isConnected
bool	isConfigured
bool	isReady

Private Member Functions
bool	_ReadGroundPresTemp (uint8_t n, unsigned long measDelay)
	Measure the ground-level pressure and temperature by taking the average of a few readings. More...
bool	_SetTakeoffAltitude ()
	Compute the altitude above MSL at the T/O location. More...

Private Attributes
float	_p
float	_pRaw
float	_t
float	_tRaw
float	_altMSL
float	_lastAltMSL
float	_alt
float	_groundPres
float	_groundTemp
float	_groundAltMSL
float	_mslPres
float	_vertSpeed
unsigned long	_lastMeasMillis
unsigned long	_currMeasMillis
MedianFilter	_PresFastFilter
LowPassFilter	_PresSlowFilter
LowPassFilter	_TempSlowFilter

Constructor & Destructor Documentation

BaroAltimeter()

BaroAltimeter::BaroAltimeter

(

)

This class encompasses all functions to create a barometric altimeter for the drone, based on Adafruit's BMP388 sensor library.

This class is responsible for:

• Initializing the sensor
• Reading pressure and temperature
• Filtering raw measurements
• Computing change in altitude from T/O location
• Computing vertical speed

Member Function Documentation

_ReadGroundPresTemp()

bool BaroAltimeter::_ReadGroundPresTemp ( uint8_t  n, unsigned long  measDelay  )

private

Measure the ground-level pressure and temperature by taking the average of a few readings.

Parameters

n	Number of measurements to take
measDelay	Arduino 'delay()' between measurements in milliseconds

Returns

True if success, false if not.

_SetTakeoffAltitude()

bool BaroAltimeter::_SetTakeoffAltitude ( )

private

Compute the altitude above MSL at the T/O location.

Uses equation from Ardupilot's source code.

ConfigureSensorParams()

bool BaroAltimeter::ConfigureSensorParams	(	uint8_t	presOS = BMP3_NO_OVERSAMPLING,
		uint8_t	tempOS = BMP3_NO_OVERSAMPLING,
		uint8_t	iirCoef = BMP3_IIR_FILTER_COEFF_3,
		uint8_t	sensODR = BMP3_ODR_50_HZ
	)

Configure BMP388 oversampling, IIR filtering, and ODR.

Refer to Adafruit_BMP_3XX.h for config. options

Parameters

presOS	Pressure oversampling
tempSO	Temperature oversampling
iirCoef	Infinite impulse response (IIR) filter coef.
sensODR	Output data rate [Hz]

Returns

True if successfully configured, false if not.

ConnectToSensor()

bool BaroAltimeter::ConnectToSensor

(

TwoWire *

userWire = &Wire2

)

Attempt to connect to the BMP388 pressure/temperature sensor by running Adafruit's BMP_3XX.begin() method.

Returns false if it could't connect to the sensor.

Parameters

userWire

I2C bus that the sensor is connected to. Default Wire2.

Returns

True if success, false if not.

GetAltitude()

float BaroAltimeter::GetAltitude

(

)

GetAltitudeMSL()

float BaroAltimeter::GetAltitudeMSL

(

)

GetGroundPres()

float BaroAltimeter::GetGroundPres

(

)

GetGroundTemp()

float BaroAltimeter::GetGroundTemp

(

)

GetLaunchAltMSL()

float BaroAltimeter::GetLaunchAltMSL

(

)

GetMSLPres()

float BaroAltimeter::GetMSLPres

(

)

GetPressure()

float BaroAltimeter::GetPressure

(

)

GetTemp()

float BaroAltimeter::GetTemp

(

)

GetVertSpeed()

float BaroAltimeter::GetVertSpeed

(

)

Initialize()

bool BaroAltimeter::Initialize

(

)

Initialize the altimeter class.

Measures ground temperature and pressure and sets takeoff altitude parameters.

Returns

True if successful, flase if not.

ReadSensor()

bool BaroAltimeter::ReadSensor

(

)

Read raw pressure and temperature data from BMP388.

Returns

True if a valid reading was done, false if not.

SetMSLPres()

bool BaroAltimeter::SetMSLPres

(

float

presMSL_Pa = 101325.0f

)

Member Data Documentation

_alt

float BaroAltimeter::_alt

private

_altMSL

float BaroAltimeter::_altMSL

private

_currMeasMillis

unsigned long BaroAltimeter::_currMeasMillis

private

_groundAltMSL

float BaroAltimeter::_groundAltMSL

private

_groundPres

float BaroAltimeter::_groundPres

private

_groundTemp

float BaroAltimeter::_groundTemp

private

_lastAltMSL

float BaroAltimeter::_lastAltMSL

private

_lastMeasMillis

unsigned long BaroAltimeter::_lastMeasMillis

private

_mslPres

float BaroAltimeter::_mslPres

private

_p

float BaroAltimeter::_p

private

_pRaw

float BaroAltimeter::_pRaw

private

_PresFastFilter

MedianFilter BaroAltimeter::_PresFastFilter

private

_PresSlowFilter

LowPassFilter BaroAltimeter::_PresSlowFilter

private

_t

float BaroAltimeter::_t

private

_TempSlowFilter

LowPassFilter BaroAltimeter::_TempSlowFilter

private

_tRaw

float BaroAltimeter::_tRaw

private

_vertSpeed

float BaroAltimeter::_vertSpeed

private

isConfigured

bool BaroAltimeter::isConfigured

isConnected

bool BaroAltimeter::isConnected

isMSLPSet

bool BaroAltimeter::isMSLPSet

isReady

bool BaroAltimeter::isReady

---

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

• include/baro_altimeter.h
• src/baro_altimeter.cpp