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no longer using the raw pressure

This commit is contained in:
Jason Short 2011-11-25 11:33:50 -08:00
parent 6ecb6f21a6
commit 10330abf54
1 changed files with 2 additions and 10 deletions
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12
ArduCopter/ArduCopter.pde
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@ -1260,17 +1260,9 @@ static void update_altitude()
baro_alt = (baro_alt + read_barometer()) >> 1; baro_alt = (baro_alt + read_barometer()) >> 1;
// calc the vertical accel rate // calc the vertical accel rate
#if CLIMB_RATE_BARO == 0 int temp = (baro_alt - old_baro_alt) * 10;
int temp_baro_alt = (barometer._offset_press - barometer.RawPress) << 2; // invert and scale baro_rate = (temp + baro_rate) >> 1;
temp_baro_alt = (float)temp_baro_alt * .1 + (float)old_baro_alt * .9;
baro_rate = (temp_baro_alt - old_baro_alt) * 10;
old_baro_alt = temp_baro_alt;
#else
baro_rate = (baro_alt - old_baro_alt) * 10;
old_baro_alt = baro_alt; old_baro_alt = baro_alt;
#endif
// sonar_alt is calculaed in a faster loop and filtered with a mode filter // sonar_alt is calculaed in a faster loop and filtered with a mode filter
#endif #endif