Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Baro - fix BARO_ALT_OFFSET param 

This param seems to have been un-implemented. This is putting it back in. Adds a meter offset to the calculated altitude form the baro sensors.
Also changes it from int8 to float
This commit is contained in:
Tom Pittenger 2015-08-25 11:36:58 -07:00 committed by Andrew Tridgell
parent e4c62811ea
commit 749c0c190f
2 changed files with 11 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_Baro/AP_Baro.cpp
View File

@ -45,13 +45,15 @@ const AP_Param::GroupInfo AP_Baro::var_info[] PROGMEM = {
// @Increment: 1
AP_GROUPINFO("TEMP", 3, AP_Baro, sensors[0].ground_temperature, 0),
// index 4 reserved for old AP_Int8 version in legacy FRAM
//AP_GROUPINFO("ALT_OFFSET", 4, AP_Baro, _alt_offset, 0),
// @Param: ALT_OFFSET
// @DisplayName: altitude offset
// @Description: altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
// @Units: meters
// @Range: -128 127
// @Increment: 1
AP_GROUPINFO("ALT_OFFSET", 4, AP_Baro, _alt_offset, 0),
// @Increment: 0.1
AP_GROUPINFO("ALT_OFFSET", 5, AP_Baro, _alt_offset, 0),
AP_GROUPEND
};
@ -331,9 +333,12 @@ void AP_Baro::update(void)
if (is_zero(sensors[i].ground_pressure)) {
sensors[i].ground_pressure = sensors[i].pressure;
}
sensors[i].altitude = get_altitude_difference(sensors[i].ground_pressure, sensors[i].pressure);
float altitude = get_altitude_difference(sensors[i].ground_pressure, sensors[i].pressure);
// sanity check altitude
sensors[i].alt_ok = !(isnan(sensors[i].altitude) || isinf(sensors[i].altitude));
sensors[i].alt_ok = !(isnan(altitude) || isinf(altitude));
if (sensors[i].alt_ok) {
sensors[i].altitude = altitude + _alt_offset;
}
}
}

2
libraries/AP_Baro/AP_Baro.h
View File

@ -150,7 +150,7 @@ private:
AP_Float ground_pressure;
} sensors[BARO_MAX_INSTANCES];
AP_Int8 _alt_offset;
AP_Float _alt_offset;
float _last_altitude_EAS2TAS;
float _EAS2TAS;
float _external_temperature;