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AP_Baro: update example to use accumulate()

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This commit is contained in:
Andrew Tridgell 2013-01-09 23:06:24 +11:00
parent 8ceabc97f1
commit 1ce1fa3864
1 changed files with 14 additions and 3 deletions
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17
libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
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@ -44,11 +44,22 @@ void setup()
void loop() void loop()
{ {
float tmp_float; float tmp_float;
static uint32_t last_print;
if((hal.scheduler->micros()- timer) > 50000L) { bmp085.accumulate();
timer = hal.scheduler->micros();
// accumulate values at 50Hz
if ((hal.scheduler->micros()- timer) > 20000L) {
bmp085.read(); bmp085.read();
uint32_t read_time = hal.scheduler->micros() - timer; timer = hal.scheduler->micros();
}
// print at 2Hz
if ((hal.scheduler->millis()- last_print) >= 500) {
uint32_t start = hal.scheduler->micros();
last_print = hal.scheduler->millis();
bmp085.read();
uint32_t read_time = hal.scheduler->micros() - start;
if (! bmp085.healthy) { if (! bmp085.healthy) {
hal.console->println("not healthy"); hal.console->println("not healthy");
return; return;