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AP_Baro: fixed example to run accumulate at 50Hz

This commit is contained in:
Andrew Tridgell 2015-07-10 09:59:35 +10:00
parent 338ae68537
commit 282efe2d57
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp
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@ -41,6 +41,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
static AP_Baro barometer;
static uint32_t timer;
static uint8_t counter;
void setup()
{
@ -62,8 +63,14 @@ void setup()
void loop()
{
if((hal.scheduler->micros() - timer) > 100000UL) {
// run accumulate() at 50Hz and update() at 10Hz
if((hal.scheduler->micros() - timer) > 20*1000UL) {
timer = hal.scheduler->micros();
barometer.accumulate();
if (counter++ < 5) {
return;
}
counter = 0;
barometer.update();
uint32_t read_time = hal.scheduler->micros() - timer;
float alt = barometer.get_altitude();