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

Sub: update calibration if reading is above water level

This commit is contained in:
Willian Galvani 2019-09-05 13:32:42 -03:00 committed by Jacob Walser
parent 0c5753112a
commit adcf0d398d
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduSub/sensors.cpp
View File

@ -4,6 +4,11 @@
void Sub::read_barometer()
{
barometer.update();
// If we are reading a positive altitude, the sensor needs calibration
// Even a few meters above the water we should have no significant depth reading
if(!motors.armed() && barometer.get_altitude() > 0) {
barometer.update_calibration();
}
if (ap.depth_sensor_present) {
sensor_health.depth = barometer.healthy(depth_sensor_idx);