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Barometer: fixed airstart for APM

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we need to re-load the ground pressure and temperature from eeprom on
and airstart
This commit is contained in:
Andrew Tridgell 2012-06-27 15:59:52 +10:00
parent ce016b5ae8
commit 57579e494b
6 changed files with 30 additions and 12 deletions
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2
ArduPlane/GCS_Mavlink.pde
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@ -465,7 +465,7 @@ static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
chan,
micros(),
pressure/100.0,
(pressure - g.ground_pressure)/100.0,
(pressure - barometer.get_ground_pressure())/100.0,
barometer.get_temperature());
}

14
ArduPlane/Parameters.h
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@ -91,9 +91,12 @@ public:
k_param_imu = 130, // sensor calibration
k_param_altitude_mix,
k_param_airspeed_ratio,
k_param_ground_temperature,
k_param_ground_pressure,
k_param_compass_enabled,
// ground_pressure and ground_temperature removed
// do not re-use 133 and 134 unless format_version
// is changed
k_param_compass_enabled = 135,
k_param_compass,
k_param_battery_monitoring,
k_param_volt_div_ratio,
@ -105,6 +108,7 @@ public:
k_param_airspeed_enabled,
k_param_ahrs, // AHRS group
k_param_airspeed_use,
k_param_barometer, // barometer ground calibration
//
// 150: Navigation parameters
@ -333,8 +337,6 @@ public:
AP_Int16 min_gndspeed;
AP_Int16 pitch_trim;
AP_Int16 RTL_altitude;
AP_Int16 ground_temperature;
AP_Int32 ground_pressure;
AP_Int8 compass_enabled;
AP_Int16 angle_of_attack;
AP_Int8 battery_monitoring; // 0=disabled, 3=voltage only, 4=voltage and current
@ -454,8 +456,6 @@ public:
pitch_trim (0),
RTL_altitude (ALT_HOLD_HOME_CM),
FBWB_min_altitude (ALT_HOLD_FBW_CM),
ground_temperature (0),
ground_pressure (0),
compass_enabled (MAGNETOMETER),
flap_1_percent (FLAP_1_PERCENT),
flap_1_speed (FLAP_1_SPEED),

6
ArduPlane/Parameters.pde
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@ -234,8 +234,6 @@ static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(pitch_trim, "TRIM_PITCH_CD"),
GSCALAR(RTL_altitude, "ALT_HOLD_RTL"),
GSCALAR(FBWB_min_altitude, "ALT_HOLD_FBWCM"),
GSCALAR(ground_temperature, "GND_TEMP"),
GSCALAR(ground_pressure, "GND_ABS_PRESS"),
// @Param: MAG_ENABLE
// @DisplayName: Enable Compass
@ -277,6 +275,10 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(airspeed_use, "ARSPD_USE"),
// barometer ground calibration. The GND_ prefix is chosen for
// compatibility with previous releases of ArduPlane
GOBJECT(barometer, "GND_", AP_Baro),
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp

2
ArduPlane/sensors.pde
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@ -8,8 +8,6 @@ void ReadSCP1000(void) {}
static void init_barometer(void)
{
barometer.calibrate(mavlink_delay);
g.ground_pressure.set_and_save(barometer.get_ground_pressure());
g.ground_temperature.set_and_save(barometer.get_ground_temperature() / 10.0f);
ahrs.set_barometer(&barometer);
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}

16
libraries/AP_Baro/AP_Baro.cpp
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@ -12,6 +12,22 @@
#include <AP_Common.h>
#include <AP_Baro.h>
// table of user settable parameters
const AP_Param::GroupInfo AP_Baro::var_info[] PROGMEM = {
// @Param: ABS_PRESS
// @DisplayName: Absolute Pressure
// @Description: calibrated ground pressure
// @Increment: 1
AP_GROUPINFO("ABS_PRESS", 0, AP_Baro, _ground_pressure),
// @Param: ABS_PRESS
// @DisplayName: ground temperature
// @Description: calibrated ground temperature
// @Increment: 1
AP_GROUPINFO("TEMP", 1, AP_Baro, _ground_temperature),
AP_GROUPEND
};
// calibrate the barometer. This must be called at least once before
// the altitude() or climb_rate() interfaces can be used
void AP_Baro::calibrate(void (*callback)(unsigned long t))

2
libraries/AP_Baro/AP_Baro.h
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@ -38,6 +38,8 @@ class AP_Baro
int16_t get_ground_temperature(void) { return _ground_temperature.get(); }
int32_t get_ground_pressure(void) { return _ground_pressure.get(); }
static const struct AP_Param::GroupInfo var_info[];
protected:
uint32_t _last_update;