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: added update_calibration() method

Browse Source 
used for auto baro calibration when disarmed
This commit is contained in:
Andrew Tridgell 2013-10-05 18:44:00 +10:00
parent 7cab8cb3bb
commit 487caea3a5
2 changed files with 15 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_Baro/AP_Baro.cpp
View File

@ -118,6 +118,17 @@ void AP_Baro::calibrate()
_ground_temperature.set_and_save(ground_temperature);
}
/**
update the barometer calibration
this updates the baro ground calibration to the current values. It
can be used before arming to keep the baro well calibrated
*/
void AP_Baro::update_calibration()
{
_ground_pressure.set(get_pressure());
_ground_temperature.set(get_temperature());
}
// return current altitude estimate relative to time that calibrate()
// was called. Returns altitude in meters
// note that this relies on read() being called regularly to get new data

4
libraries/AP_Baro/AP_Baro.h
View File

@ -33,6 +33,10 @@ public:
// the callback is a delay() like routine
void calibrate();
// update the barometer calibration to the current pressure. Can
// be used for incremental preflight update of baro
void update_calibration();
// get current altitude in meters relative to altitude at the time
// of the last calibrate() call
float get_altitude(void);