Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 12:14:10 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Baro/AP_Baro.cpp
View File

@ -136,6 +136,11 @@ float AP_Baro::get_altitude(void)
{ {
float scaling, temp; float scaling, temp;
if (_ground_pressure == 0) {
// called before initialisation
return 0;
}
if (_last_altitude_t == _last_update) { if (_last_altitude_t == _last_update) {
// no new information // no new information
return _altitude + _alt_offset; 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.h>
#include "AP_Baro_HIL.h" #include "AP_Baro_HIL.h"
#include <AP_HAL.h> #include <AP_HAL.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
@ -21,8 +22,8 @@ uint8_t AP_Baro_HIL::read()
if (_count != 0) { if (_count != 0) {
hal.scheduler->suspend_timer_procs(); hal.scheduler->suspend_timer_procs();
result = 1; result = 1;
Press = ((float)_pressure_sum) / _count; Press = _pressure_sum / _count;
Temp = ((float)_temperature_sum) / _count; Temp = _temperature_sum / _count;
_pressure_samples = _count; _pressure_samples = _count;
_count = 0; _count = 0;
_pressure_sum = 0; _pressure_sum = 0;

4
libraries/AP_Baro/AP_Baro_HIL.h
View File

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