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uncrustify libraries/AP_Baro/AP_Baro.cpp

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uncrustify 2012-08-16 23:09:23 -07:00 committed by Pat Hickey
parent 12497c51b5
commit 6f02a645c3
1 changed files with 46 additions and 46 deletions
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92
libraries/AP_Baro/AP_Baro.cpp
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@ -1,12 +1,12 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
APM_Baro.cpp - barometer driver
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License
as published by the Free Software Foundation; either version 2.1
of the License, or (at your option) any later version.
*/
* APM_Baro.cpp - barometer driver
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public License
* as published by the Free Software Foundation; either version 2.1
* of the License, or (at your option) any later version.
*/
#include <FastSerial.h>
#include <AP_Common.h>
@ -17,16 +17,16 @@ const AP_Param::GroupInfo AP_Baro::var_info[] PROGMEM = {
// NOTE: Index numbers 0 and 1 were for the old integer
// ground temperature and pressure
// @Param: ABS_PRESS
// @DisplayName: Absolute Pressure
// @Description: calibrated ground pressure
// @Increment: 1
// @Param: ABS_PRESS
// @DisplayName: Absolute Pressure
// @Description: calibrated ground pressure
// @Increment: 1
AP_GROUPINFO("ABS_PRESS", 2, AP_Baro, _ground_pressure, 0),
// @Param: ABS_PRESS
// @DisplayName: ground temperature
// @Description: calibrated ground temperature
// @Increment: 1
// @Param: ABS_PRESS
// @DisplayName: ground temperature
// @Description: calibrated ground temperature
// @Increment: 1
AP_GROUPINFO("TEMP", 3, AP_Baro, _ground_temperature, 0),
AP_GROUPEND
};
@ -35,40 +35,40 @@ const AP_Param::GroupInfo AP_Baro::var_info[] PROGMEM = {
// the altitude() or climb_rate() interfaces can be used
void AP_Baro::calibrate(void (*callback)(unsigned long t))
{
float ground_pressure = 0;
float ground_temperature = 0;
float ground_pressure = 0;
float ground_temperature = 0;
while (ground_pressure == 0 || !healthy) {
read(); // Get initial data from absolute pressure sensor
ground_pressure = get_pressure();
ground_temperature = get_temperature();
callback(20);
}
while (ground_pressure == 0 || !healthy) {
read(); // Get initial data from absolute pressure sensor
ground_pressure = get_pressure();
ground_temperature = get_temperature();
callback(20);
}
// let the barometer settle for a full second after startup
// the MS5611 reads quite a long way off for the first second,
// leading to about 1m of error if we don't wait
for (uint16_t i = 0; i < 10; i++) {
do {
read();
} while (!healthy);
ground_pressure = get_pressure();
ground_temperature = get_temperature();
callback(100);
// leading to about 1m of error if we don't wait
for (uint16_t i = 0; i < 10; i++) {
do {
read();
} while (!healthy);
ground_pressure = get_pressure();
ground_temperature = get_temperature();
callback(100);
}
// now average over 5 values for the ground pressure and
// temperature settings
for (uint16_t i = 0; i < 5; i++) {
do {
read();
} while (!healthy);
ground_pressure = ground_pressure * 0.8 + get_pressure() * 0.2;
ground_temperature = ground_temperature * 0.8 + get_temperature() * 0.2;
callback(100);
}
// temperature settings
for (uint16_t i = 0; i < 5; i++) {
do {
read();
} while (!healthy);
ground_pressure = ground_pressure * 0.8 + get_pressure() * 0.2;
ground_temperature = ground_temperature * 0.8 + get_temperature() * 0.2;
callback(100);
}
_ground_pressure.set_and_save(ground_pressure);
_ground_temperature.set_and_save(ground_temperature / 10.0f);
_ground_pressure.set_and_save(ground_pressure);
_ground_temperature.set_and_save(ground_temperature / 10.0f);
}
// return current altitude estimate relative to time that calibrate()
@ -76,7 +76,7 @@ void AP_Baro::calibrate(void (*callback)(unsigned long t))
// note that this relies on read() being called regularly to get new data
float AP_Baro::get_altitude(void)
{
float scaling, temp;
float scaling, temp;
if (_last_altitude_t == _last_update) {
// no new information
@ -86,9 +86,9 @@ float AP_Baro::get_altitude(void)
// this has no filtering of the pressure values, use a separate
// filter if you want a smoothed value. The AHRS driver wants
// unsmoothed values
scaling = (float)_ground_pressure / (float)get_pressure();
temp = ((float)_ground_temperature) + 273.15f;
_altitude = log(scaling) * temp * 29.271267f;
scaling = (float)_ground_pressure / (float)get_pressure();
temp = ((float)_ground_temperature) + 273.15f;
_altitude = log(scaling) * temp * 29.271267f;
_last_altitude_t = _last_update;