mirror of https://github.com/ArduPilot/ardupilot
Arducopter:Arducopter.pde
switched over to barometer.get_climb_rate() * 100 removed +home.alt calcs since home is always 0 altitude
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@ -2101,21 +2101,24 @@ static void update_altitude()
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scale = (float)(sonar_alt - 400) / 200.0;
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scale = (float)(sonar_alt - 400) / 200.0;
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scale = constrain(scale, 0.0, 1.0);
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scale = constrain(scale, 0.0, 1.0);
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// solve for a blended altitude
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// solve for a blended altitude
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current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt;
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current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale);
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// solve for a blended climb_rate
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// solve for a blended climb_rate
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climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
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climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
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}else{
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}else{
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// we must be higher than sonar (>800), don't get tricked by bad sonar reads
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// we must be higher than sonar (>800), don't get tricked by bad sonar reads
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current_loc.alt = baro_alt + home.alt; // home alt = 0
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current_loc.alt = baro_alt;
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// dont blend, go straight baro
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// dont blend, go straight baro
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climb_rate_actual = baro_rate;
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//climb_rate_actual = baro_rate;
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// Tridge's cool Baro patch
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climb_rate_actual = barometer.get_climb_rate() * 100;
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}
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}
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}else{
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}else{
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// NO Sonar case
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// NO Sonar case
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current_loc.alt = baro_alt + home.alt;
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current_loc.alt = baro_alt;
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climb_rate_actual = baro_rate;
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climb_rate_actual = baro_rate;
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}
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}
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@ -2412,3 +2415,11 @@ static void update_auto_yaw()
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//Serial.printf("auto_yaw %d ", auto_yaw);
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//Serial.printf("auto_yaw %d ", auto_yaw);
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// MAV_ROI_NONE = basic Yaw hold
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// MAV_ROI_NONE = basic Yaw hold
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}
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}
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/*
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MAV_ROI_NONE=0, No region of interest. |
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MAV_ROI_WPNEXT=1, Point toward next MISSION. |
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MAV_ROI_WPINDEX=2, Point toward given MISSION. |
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MAV_ROI_LOCATION=3, Point toward fixed location. |
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MAV_ROI_TARGET=4, Point toward of given id.
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MAV_ROI_ENUM_END=5,
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*/
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