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Tracker: fixed calibration bug

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stefanlynka 2016-06-03 09:56:58 +09:00 committed by Randy Mackay
parent 5df2e57209
commit 0c06e62bce
2 changed files with 8 additions and 10 deletions
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2
AntennaTracker/system.cpp
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@ -112,8 +112,6 @@ void Tracker::init_tracker()
prepare_servos(); prepare_servos();
} }
// calibrate pressure on startup by default
nav_status.need_altitude_calibration = true;
} }
// updates the status of the notify objects // updates the status of the notify objects

6
AntennaTracker/tracking.cpp
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@ -146,17 +146,17 @@ void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
// calculate altitude difference based on difference in barometric pressure // calculate altitude difference based on difference in barometric pressure
float alt_diff = barometer.get_altitude_difference(local_pressure, aircraft_pressure); float alt_diff = barometer.get_altitude_difference(local_pressure, aircraft_pressure);
if (!isnan(alt_diff)) { if (!isnan(alt_diff) && !isinf(alt_diff)) {
nav_status.alt_difference_baro = alt_diff + nav_status.altitude_offset; nav_status.alt_difference_baro = alt_diff + nav_status.altitude_offset;
}
if (nav_status.need_altitude_calibration) { if (nav_status.need_altitude_calibration) {
// we have done a baro calibration - zero the altitude // we have done a baro calibration - zero the altitude
// difference to the aircraft // difference to the aircraft
nav_status.altitude_offset = -nav_status.alt_difference_baro; nav_status.altitude_offset = -alt_diff;
nav_status.alt_difference_baro = 0; nav_status.alt_difference_baro = 0;
nav_status.need_altitude_calibration = false; nav_status.need_altitude_calibration = false;
} }
}
// log altitude difference // log altitude difference
Log_Write_Vehicle_Baro(local_pressure, alt_diff); Log_Write_Vehicle_Baro(local_pressure, alt_diff);