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Copter: use new baro API

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This commit is contained in:
Andrew Tridgell 2013-09-21 21:30:54 +10:00
parent fc119d9b80
commit 35e3c887d2
2 changed files with 8 additions and 7 deletions
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10
ArduCopter/GCS_Mavlink.pde
View File

@ -445,9 +445,9 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
mavlink_msg_scaled_pressure_send(
chan,
millis(),
(float)barometer.get_pressure()/100.0f,
(float)(barometer.get_pressure() - barometer.get_ground_pressure())/100.0f,
(int)(barometer.get_temperature()*10));
barometer.get_pressure()*0.01f, // hectopascal
(barometer.get_pressure() - barometer.get_ground_pressure())*0.01f, // hectopascal
(int16_t)(barometer.get_temperature()*100)); // 0.01 degrees C
}
static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
@ -461,8 +461,8 @@ static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_raw_pressure(),
barometer.get_raw_temp(),
barometer.get_pressure(),
barometer.get_temperature()*100,
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,

3
ArduCopter/test.pde
View File

@ -96,7 +96,8 @@ test_baro(uint8_t argc, const Menu::arg *argv)
} else {
cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
alt / 100.0,
barometer.get_pressure(), 0.1*barometer.get_temperature());
barometer.get_pressure(),
barometer.get_temperature());
}
if(cliSerial->available() > 0) {
return (0);