diff --git a/libraries/AP_HAL/AnalogIn.h b/libraries/AP_HAL/AnalogIn.h
index 57b4947c03f576c7e0fde3622e2d790114be914c..fa9f291055a3137f74e0d22350e5e74cfae599aa 100644
--- a/libraries/AP_HAL/AnalogIn.h
+++ b/libraries/AP_HAL/AnalogIn.h
@@ -37,7 +37,6 @@ class AP_HAL::AnalogIn {
public:
virtual void init(void* implspecific) = 0;
virtual AP_HAL::AnalogSource* channel(int16_t n) = 0;
- virtual AP_HAL::AnalogSource* channel(int16_t n, float scale) = 0;
};
#define ANALOG_INPUT_BOARD_VCC 254
diff --git a/libraries/AP_HAL_AVR/AnalogIn.h b/libraries/AP_HAL_AVR/AnalogIn.h
index 16e5b4c6a697d4d04d5d68bd1a2a419f8085564b..f4456a8125632eb38ad882fa83a7ba3f64b4a7b2 100644
--- a/libraries/AP_HAL_AVR/AnalogIn.h
+++ b/libraries/AP_HAL_AVR/AnalogIn.h
@@ -12,7 +12,7 @@ public:
friend class AP_HAL_AVR::AVRAnalogIn;
/* pin designates the ADC input number, or when == AVR_ANALOG_PIN_VCC,
* board vcc */
- ADCSource(uint8_t pin, float prescale = 1.0);
+ ADCSource(uint8_t pin);
/* implement AnalogSource virtual api: */
float read_average();
@@ -58,9 +58,6 @@ private:
uint8_t _stop_pin;
uint16_t _settle_time_ms;
uint32_t _read_start_time_ms;
-
- /* prescale scales the raw measurments for read()*/
- const float _prescale;
};
/* AVRAnalogIn : a concrete class providing the implementations of the
@@ -70,10 +67,9 @@ public:
AVRAnalogIn();
void init(void* ap_hal_scheduler);
AP_HAL::AnalogSource* channel(int16_t n);
- AP_HAL::AnalogSource* channel(int16_t n, float prescale);
protected:
- static ADCSource* _create_channel(int16_t num, float scale);
+ static ADCSource* _create_channel(int16_t num);
static void _register_channel(ADCSource*);
static void _timer_event(uint32_t);
static ADCSource* _channels[AVR_INPUT_MAX_CHANNELS];
diff --git a/libraries/AP_HAL_AVR/AnalogIn_ADC.cpp b/libraries/AP_HAL_AVR/AnalogIn_ADC.cpp
index f72f140e1cfa06235819666a14e2786f857310d3..442dd98f87791beaae1d5287fc3a6e1b0cd410ee 100644
--- a/libraries/AP_HAL_AVR/AnalogIn_ADC.cpp
+++ b/libraries/AP_HAL_AVR/AnalogIn_ADC.cpp
@@ -11,14 +11,13 @@ using namespace AP_HAL_AVR;
extern const AP_HAL::HAL& hal;
-ADCSource::ADCSource(uint8_t pin, float prescale) :
+ADCSource::ADCSource(uint8_t pin) :
_pin(pin),
_stop_pin(ANALOG_INPUT_NONE),
_sum_count(0),
_sum(0),
_settle_time_ms(0),
- _last_average(0),
- _prescale(prescale)
+ _last_average(0)
{}
float ADCSource::read_average() {
@@ -26,7 +25,7 @@ float ADCSource::read_average() {
uint16_t v = (uint16_t) _read_average();
return 1126400UL / v;
} else {
- return _prescale * _read_average();
+ return _read_average();
}
}
@@ -38,7 +37,7 @@ float ADCSource::read_latest() {
if (_pin == ANALOG_INPUT_BOARD_VCC) {
return 1126400UL / latest;
} else {
- return _prescale * latest;
+ return latest;
}
}
diff --git a/libraries/AP_HAL_AVR/AnalogIn_Common.cpp b/libraries/AP_HAL_AVR/AnalogIn_Common.cpp
index 1dc390d8ef5799b8ab19576a0aeeff0520d2f801..9f9cfdf5d598ff8a8eef38b2c5c7f2bfd0ae1e8e 100644
--- a/libraries/AP_HAL_AVR/AnalogIn_Common.cpp
+++ b/libraries/AP_HAL_AVR/AnalogIn_Common.cpp
@@ -33,8 +33,8 @@ void AVRAnalogIn::init(void* machtnichts) {
_register_channel(&_vcc);
}
-ADCSource* AVRAnalogIn::_create_channel(int16_t chnum, float scale) {
- ADCSource *ch = new ADCSource(chnum, scale);
+ADCSource* AVRAnalogIn::_create_channel(int16_t chnum) {
+ ADCSource *ch = new ADCSource(chnum);
_register_channel(ch);
return ch;
}
@@ -110,14 +110,12 @@ next_channel:
}
-AP_HAL::AnalogSource* AVRAnalogIn::channel(int16_t ch) {
- return this->channel(ch, 1.0);
-}
-AP_HAL::AnalogSource* AVRAnalogIn::channel(int16_t ch, float scale) {
+AP_HAL::AnalogSource* AVRAnalogIn::channel(int16_t ch)
+{
if (ch == ANALOG_INPUT_BOARD_VCC) {
return &_vcc;
} else {
- return _create_channel(ch, scale);
+ return _create_channel(ch);
}
}
diff --git a/libraries/AP_HAL_AVR_SITL/AnalogIn.cpp b/libraries/AP_HAL_AVR_SITL/AnalogIn.cpp
index 958d788600a6c5605608a96641f1259386475b40..57d41725cfbf25655919fc969a0e55d8e922a582 100644
--- a/libraries/AP_HAL_AVR_SITL/AnalogIn.cpp
+++ b/libraries/AP_HAL_AVR_SITL/AnalogIn.cpp
@@ -11,10 +11,9 @@ using namespace AVR_SITL;
extern const AP_HAL::HAL& hal;
-ADCSource::ADCSource(SITL_State *sitlState, uint8_t pin, float prescale) :
+ADCSource::ADCSource(SITL_State *sitlState, uint8_t pin) :
_sitlState(sitlState),
- _pin(pin),
- _prescale(prescale)
+ _pin(pin)
{}
float ADCSource::read_average() {
@@ -47,11 +46,7 @@ void SITLAnalogIn::init(void *ap_hal_scheduler) {
}
AP_HAL::AnalogSource* SITLAnalogIn::channel(int16_t pin) {
- return channel(pin, 1.0);
-}
-
-AP_HAL::AnalogSource* SITLAnalogIn::channel(int16_t pin, float prescale) {
- return new ADCSource(_sitlState, pin, prescale);
+ return new ADCSource(_sitlState, pin);
}
#endif
diff --git a/libraries/AP_HAL_AVR_SITL/AnalogIn.h b/libraries/AP_HAL_AVR_SITL/AnalogIn.h
index 165745652a234f62ccbff5d47e5bc483127299ad..2a24b6ff81af39c969f4a0fccd00f214e4c5d9d3 100644
--- a/libraries/AP_HAL_AVR_SITL/AnalogIn.h
+++ b/libraries/AP_HAL_AVR_SITL/AnalogIn.h
@@ -12,7 +12,7 @@ public:
friend class AVR_SITL::SITLAnalogIn;
/* pin designates the ADC input number, or when == AVR_ANALOG_PIN_VCC,
* board vcc */
- ADCSource(SITL_State *sitlState, uint8_t pin, float prescale = 1.0);
+ ADCSource(SITL_State *sitlState, uint8_t pin);
/* implement AnalogSource virtual api: */
float read_average();
@@ -24,10 +24,8 @@ public:
void set_settle_time(uint16_t settle_time_ms) {}
private:
- /* prescale scales the raw measurments for read()*/
SITL_State *_sitlState;
uint8_t _pin;
- const float _prescale;
};
/* AVRAnalogIn : a concrete class providing the implementations of the
@@ -39,7 +37,6 @@ public:
}
void init(void* ap_hal_scheduler);
AP_HAL::AnalogSource* channel(int16_t n);
- AP_HAL::AnalogSource* channel(int16_t n, float prescale);
private:
static ADCSource* _channels[SITL_INPUT_MAX_CHANNELS];
diff --git a/libraries/AP_HAL_Empty/AnalogIn.cpp b/libraries/AP_HAL_Empty/AnalogIn.cpp
index a449b1bdd6f98647b2e72d093a2a1d366c54e182..f8d258064c465bca1a52807f87f053599502dae6 100644
--- a/libraries/AP_HAL_Empty/AnalogIn.cpp
+++ b/libraries/AP_HAL_Empty/AnalogIn.cpp
@@ -33,7 +33,4 @@ AP_HAL::AnalogSource* EmptyAnalogIn::channel(int16_t n) {
return new EmptyAnalogSource(1.11);
}
-AP_HAL::AnalogSource* EmptyAnalogIn::channel(int16_t n, float scale) {
- return new EmptyAnalogSource(scale/2);
-}
diff --git a/libraries/AP_HAL_Empty/AnalogIn.h b/libraries/AP_HAL_Empty/AnalogIn.h
index b26e8209a7b2fbdbd74442253b440e5ffdf8e93d..460f06b8636f44454ead956e2f19d2bf1acfc820 100644
--- a/libraries/AP_HAL_Empty/AnalogIn.h
+++ b/libraries/AP_HAL_Empty/AnalogIn.h
@@ -23,6 +23,5 @@ public:
EmptyAnalogIn();
void init(void* implspecific);
AP_HAL::AnalogSource* channel(int16_t n);
- AP_HAL::AnalogSource* channel(int16_t n, float scale);
};
#endif // __AP_HAL_EMPTY_ANALOGIN_H__
diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index 8e2905440d77127907675f5d511c80e15766b761..2deda41890d99f329b624d7a8243afb541bd9a64 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -41,13 +41,12 @@ PX4AnalogSource* PX4AnalogIn::_channels[PX4_ANALOG_MAX_CHANNELS] = {};
int PX4AnalogIn::_battery_handle = -1;
uint64_t PX4AnalogIn::_battery_timestamp;
-PX4AnalogSource::PX4AnalogSource(int16_t pin, float initial_value, float scale) :
+PX4AnalogSource::PX4AnalogSource(int16_t pin, float initial_value) :
_pin(pin),
_value(initial_value),
_latest_value(initial_value),
_sum_count(0),
- _sum_value(0),
- _scale(scale)
+ _sum_value(0)
{
}
@@ -176,15 +175,10 @@ void PX4AnalogIn::_analogin_timer(uint32_t now)
}
AP_HAL::AnalogSource* PX4AnalogIn::channel(int16_t pin)
-{
- return channel(pin, 1.0);
-}
-
-AP_HAL::AnalogSource* PX4AnalogIn::channel(int16_t pin, float scale)
{
for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
if (_channels[j] == NULL) {
- _channels[j] = new PX4AnalogSource(pin, 0.0, scale);
+ _channels[j] = new PX4AnalogSource(pin, 0.0);
return _channels[j];
}
}
diff --git a/libraries/AP_HAL_PX4/AnalogIn.h b/libraries/AP_HAL_PX4/AnalogIn.h
index 11076c8d902b7f91b7e46e43f4c21f06840de794..e79c36487caa4e9157e4d79516b7fb8028db2e76 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.h
+++ b/libraries/AP_HAL_PX4/AnalogIn.h
@@ -21,7 +21,7 @@
class PX4::PX4AnalogSource : public AP_HAL::AnalogSource {
public:
friend class PX4::PX4AnalogIn;
- PX4AnalogSource(int16_t pin, float initial_value, float scale);
+ PX4AnalogSource(int16_t pin, float initial_value);
float read_average();
float read_latest();
void set_pin(uint8_t p);
@@ -41,7 +41,6 @@ private:
float _latest_value;
uint8_t _sum_count;
float _sum_value;
- float _scale;
void _add_value(float v);
};
@@ -50,7 +49,6 @@ public:
PX4AnalogIn();
void init(void* implspecific);
AP_HAL::AnalogSource* channel(int16_t pin);
- AP_HAL::AnalogSource* channel(int16_t pin, float scale);
private:
static int _adc_fd;
diff --git a/libraries/AP_HAL_SMACCM/AnalogIn.cpp b/libraries/AP_HAL_SMACCM/AnalogIn.cpp
index f52cdf8539e13bbc36c7577dfac68bd6185578d2..b7f172de752c69ad9321eda7af070ece683e7a70 100644
--- a/libraries/AP_HAL_SMACCM/AnalogIn.cpp
+++ b/libraries/AP_HAL_SMACCM/AnalogIn.cpp
@@ -34,7 +34,3 @@ AP_HAL::AnalogSource* SMACCMAnalogIn::channel(int16_t n) {
return new SMACCMAnalogSource(1.11);
}
-AP_HAL::AnalogSource* SMACCMAnalogIn::channel(int16_t n, float scale) {
- return new SMACCMAnalogSource(scale/2);
-}
-
diff --git a/libraries/AP_HAL_SMACCM/AnalogIn.h b/libraries/AP_HAL_SMACCM/AnalogIn.h
index 7b98a2fa054eeaeca75d98f24e767d26445fb9e5..6e6cb6d267a6b9a2a33f389b1c03d99acbfd98b9 100644
--- a/libraries/AP_HAL_SMACCM/AnalogIn.h
+++ b/libraries/AP_HAL_SMACCM/AnalogIn.h
@@ -24,6 +24,5 @@ public:
SMACCMAnalogIn();
void init(void* implspecific);
AP_HAL::AnalogSource* channel(int16_t n);
- AP_HAL::AnalogSource* channel(int16_t n, float scale);
};
#endif // __AP_HAL_SMACCM_ANALOGIN_H__