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ACM: Fixed Baro rate patch to work with Sonar and added simple filter

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This commit is contained in:
Jason Short 2012-07-21 16:44:42 -07:00
parent b6f45bb188
commit 9cf36c553c
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/ArduCopter.pde
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@ -2113,10 +2113,18 @@ static void update_altitude()
baro_alt = read_barometer();
// calc the vertical accel rate
/*
// 2.6 way
int temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
old_baro_alt = baro_alt;
*/
// Using Tridge's new clamb rate calc
int temp = barometer.get_climb_rate() * 100;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
#endif
// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
@ -2160,9 +2168,7 @@ static void update_altitude()
current_loc.alt = baro_alt;
// dont blend, go straight baro
//climb_rate_actual = baro_rate;
// Tridge's cool Baro patch
climb_rate_actual = barometer.get_climb_rate() * 100;
climb_rate_actual = baro_rate;
}
}else{