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AP_Baro: changed HIL driver to use floats and better handle starup

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This commit is contained in:
Andrew Tridgell 2014-01-05 16:36:12 +11:00
parent c995f994c5
commit 2cd781997f
3 changed files with 10 additions and 4 deletions
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5
libraries/AP_Baro/AP_Baro.cpp
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@ -136,6 +136,11 @@ float AP_Baro::get_altitude(void)
{
float scaling, temp;
if (_ground_pressure == 0) {
// called before initialisation
return 0;
}
if (_last_altitude_t == _last_update) {
// no new information
return _altitude + _alt_offset;

5
libraries/AP_Baro/AP_Baro_HIL.cpp
View File

@ -3,6 +3,7 @@
#include <AP_Baro.h>
#include "AP_Baro_HIL.h"
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
// Public Methods //////////////////////////////////////////////////////////////
@ -21,8 +22,8 @@ uint8_t AP_Baro_HIL::read()
if (_count != 0) {
hal.scheduler->suspend_timer_procs();
result = 1;
Press = ((float)_pressure_sum) / _count;
Temp = ((float)_temperature_sum) / _count;
Press = _pressure_sum / _count;
Temp = _temperature_sum / _count;
_pressure_samples = _count;
_count = 0;
_pressure_sum = 0;

4
libraries/AP_Baro/AP_Baro_HIL.h
View File

@ -11,8 +11,8 @@ private:
uint8_t BMP085_State;
float Temp;
float Press;
int32_t _pressure_sum;
int32_t _temperature_sum;
float _pressure_sum;
float _temperature_sum;
volatile uint8_t _count;
public: