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Arducopter:Arducopter.pde 

switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
This commit is contained in:
Jason Short 2012-07-10 17:21:23 -07:00
parent c04bff67de
commit 293f17902b
1 changed files with 15 additions and 4 deletions
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19
ArduCopter/ArduCopter.pde
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@ -2101,21 +2101,24 @@ static void update_altitude()
scale = (float)(sonar_alt - 400) / 200.0; scale = (float)(sonar_alt - 400) / 200.0;
scale = constrain(scale, 0.0, 1.0); scale = constrain(scale, 0.0, 1.0);
// solve for a blended altitude // solve for a blended altitude
current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale) + home.alt; current_loc.alt = ((float)sonar_alt * (1.0 - scale)) + ((float)baro_alt * scale);
// solve for a blended climb_rate // solve for a blended climb_rate
climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale; climb_rate_actual = ((float)sonar_rate * (1.0 - scale)) + (float)baro_rate * scale;
}else{ }else{
// we must be higher than sonar (>800), don't get tricked by bad sonar reads // we must be higher than sonar (>800), don't get tricked by bad sonar reads
current_loc.alt = baro_alt + home.alt; // home alt = 0 current_loc.alt = baro_alt;
// dont blend, go straight baro // dont blend, go straight baro
climb_rate_actual = baro_rate;
//climb_rate_actual = baro_rate;
// Tridge's cool Baro patch
climb_rate_actual = barometer.get_climb_rate() * 100;
} }
}else{ }else{
// NO Sonar case // NO Sonar case
current_loc.alt = baro_alt + home.alt; current_loc.alt = baro_alt;
climb_rate_actual = baro_rate; climb_rate_actual = baro_rate;
} }
@ -2412,3 +2415,11 @@ static void update_auto_yaw()
//Serial.printf("auto_yaw %d ", auto_yaw); //Serial.printf("auto_yaw %d ", auto_yaw);
// MAV_ROI_NONE = basic Yaw hold // MAV_ROI_NONE = basic Yaw hold
} }
/*
MAV_ROI_NONE=0, No region of interest. |
MAV_ROI_WPNEXT=1, Point toward next MISSION. |
MAV_ROI_WPINDEX=2, Point toward given MISSION. |
MAV_ROI_LOCATION=3, Point toward fixed location. |
MAV_ROI_TARGET=4, Point toward of given id.
MAV_ROI_ENUM_END=5,
*/