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APM: fixed altitude_filter for new LowPassFilter syntax

This commit is contained in:
Andrew Tridgell 2012-11-19 08:09:44 +11:00
parent 8d1905a40b
commit 7b733cd12b
1 changed files with 8 additions and 4 deletions
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12
ArduPlane/sensors.pde
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@ -1,16 +1,20 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// filter altitude from the barometer with a low pass filter
static LowPassFilterInt32 altitude_filter;
static void init_barometer(void) static void init_barometer(void)
{ {
barometer.calibrate(mavlink_delay); barometer.calibrate(mavlink_delay);
// filter at 100ms sampling, with 0.7Hz cutoff frequency
altitude_filter.set_cutoff_frequency(0.1, 0.7);
ahrs.set_barometer(&barometer); ahrs.set_barometer(&barometer);
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete")); gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
} }
// filter altitude from the barometer with a 0.3 low pass
// filter
static LowPassFilterInt32 altitude_filter(0.3);
// read the barometer and return the updated altitude in centimeters // read the barometer and return the updated altitude in centimeters
// above the calibration altitude // above the calibration altitude
static int32_t read_barometer(void) static int32_t read_barometer(void)