Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

Diff: omegaPX209/omegaPX209.cpp

Revision:
85:dd8176285b6e
Parent:
67:c86a4b464682
--- a/omegaPX209/omegaPX209.cpp	Tue Feb 19 20:11:43 2019 +0000
+++ b/omegaPX209/omegaPX209.cpp	Mon Feb 25 21:26:34 2019 +0000
@@ -71,6 +71,14 @@
 
     return depth_ft;
 }
+float omegaPX209::getDepthM() {
+    float psi = getPsi() - _zeroPsi; // read the sensor and remove atmospheric bias
+    float Pa = psi2Pa * psi; // convert psi to Pascals
+    float depth_m = Pa / (water_density_kg_m3 * grav_m_s2); // convert Pa to fluid depth in meters
+    // float depth_ft = m2ft * depth_m; // convert meters to feet
+
+    return depth_m;
+}
 
 // call this if you want to tare to zero
 void omegaPX209::tare() {