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Tracker: correct altitude pressure offset calculation 

the value nav_status.altitude_offset is expected to be a correction for differences between the barometers.  The user calibrates this value with a MAV_CMD_PREFLIGHT_CALIBRATION call.

Without this patch we were passing in the raw barometric pressure values for the tracker and the tracked vehicle.  It seems get_altitude_difference is expecting a sea-level pressure as its first argument now, as it subtracts the field elevation from the pressure-difference altitude calculations.

Change our call to provide a sea-level-adjusted value
This commit is contained in:
Peter Barker 2024-01-29 16:54:08 +11:00
parent cc8a9d1b4e
commit 7b20e4ba42
1 changed files with 2 additions and 1 deletions
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3
AntennaTracker/tracking.cpp
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@ -152,7 +152,7 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
*/ */
void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg) void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
{ {
float local_pressure = barometer.get_pressure(); float local_pressure = barometer.get_sealevel_pressure(barometer.get_pressure());
float aircraft_pressure = msg.press_abs*100.0f; float aircraft_pressure = msg.press_abs*100.0f;
// calculate altitude difference based on difference in barometric pressure // calculate altitude difference based on difference in barometric pressure
@ -166,6 +166,7 @@ void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
nav_status.altitude_offset = -alt_diff; nav_status.altitude_offset = -alt_diff;
nav_status.alt_difference_baro = 0; nav_status.alt_difference_baro = 0;
nav_status.need_altitude_calibration = false; nav_status.need_altitude_calibration = false;
gcs().send_text(MAV_SEVERITY_INFO, "Pressure alt delta=%f", alt_diff);
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
logger.Write_NamedValueFloat("NAV_ALT_OFS", nav_status.altitude_offset); logger.Write_NamedValueFloat("NAV_ALT_OFS", nav_status.altitude_offset);
#endif #endif