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apm2: fixed for new barometer code

This commit is contained in:
Andrew Tridgell 2011-12-09 18:41:55 +11:00 committed by Pat Hickey
parent 85b82e75f6
commit bb861117a3
2 changed files with 16 additions and 15 deletions
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11
ArduPlane/GCS_Mavlink.pde
View File

@ -436,12 +436,13 @@ static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
static void NOINLINE send_raw_imu2(mavlink_channel_t chan) static void NOINLINE send_raw_imu2(mavlink_channel_t chan)
{ {
int32_t pressure = barometer.get_pressure();
mavlink_msg_scaled_pressure_send( mavlink_msg_scaled_pressure_send(
chan, chan,
micros(), micros(),
(float)barometer.Press/100.0, pressure/100.0,
(float)(barometer.Press-g.ground_pressure)/100.0, (pressure - g.ground_pressure)/100.0,
(int)(barometer.Temp*10)); barometer.get_temperature());
} }
static void NOINLINE send_raw_imu3(mavlink_channel_t chan) static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
@ -453,8 +454,8 @@ static void NOINLINE send_raw_imu3(mavlink_channel_t chan)
mag_offsets.y, mag_offsets.y,
mag_offsets.z, mag_offsets.z,
compass.get_declination(), compass.get_declination(),
barometer.RawPress, barometer.get_raw_pressure(),
barometer.RawTemp, barometer.get_raw_temp(),
imu.gx(), imu.gy(), imu.gz(), imu.gx(), imu.gy(), imu.gz(),
imu.ax(), imu.ay(), imu.az()); imu.ax(), imu.ay(), imu.az());
} }

20
ArduPlane/sensors.pde
View File

@ -12,11 +12,11 @@ static void init_barometer(void)
int ground_temperature; int ground_temperature;
while(ground_pressure == 0){ while(ground_pressure == 0){
barometer.Read(); // Get initial data from absolute pressure sensor barometer.read(); // Get initial data from absolute pressure sensor
ground_pressure = barometer.Press; ground_pressure = barometer.get_pressure();
ground_temperature = barometer.Temp; ground_temperature = barometer.get_temperature();
mavlink_delay(20); mavlink_delay(20);
//Serial.printf("barometer.Press %ld\n", barometer.Press); //Serial.printf("barometer.Press %ld\n", barometer.get_pressure());
} }
for(int i = 0; i < 30; i++){ // We take some readings... for(int i = 0; i < 30; i++){ // We take some readings...
@ -25,9 +25,9 @@ static void init_barometer(void)
gcs_update(); // look for inbound hil packets gcs_update(); // look for inbound hil packets
#endif #endif
barometer.Read(); // Get initial data from absolute pressure sensor barometer.read(); // Get initial data from absolute pressure sensor
ground_pressure = (ground_pressure * 9l + barometer.Press) / 10l; ground_pressure = (ground_pressure * 9l + barometer.get_pressure()) / 10l;
ground_temperature = (ground_temperature * 9 + barometer.Temp) / 10; ground_temperature = (ground_temperature * 9 + barometer.get_temperature()) / 10;
mavlink_delay(20); mavlink_delay(20);
if(flashcount == 5) { if(flashcount == 5) {
@ -57,11 +57,11 @@ static long read_barometer(void)
{ {
float x, scaling, temp; float x, scaling, temp;
barometer.Read(); // Get new data from absolute pressure sensor barometer.read(); // Get new data from absolute pressure sensor
//abs_pressure = (abs_pressure + barometer.Press) >> 1; // Small filtering //abs_pressure = (abs_pressure + barometer.get_pressure()) >> 1; // Small filtering
abs_pressure = ((float)abs_pressure * .7) + ((float)barometer.Press * .3); // large filtering abs_pressure = ((float)abs_pressure * .7) + ((float)barometer.get_pressure() * .3); // large filtering
scaling = (float)g.ground_pressure / (float)abs_pressure; scaling = (float)g.ground_pressure / (float)abs_pressure;
temp = ((float)g.ground_temperature) + 273.15f; temp = ((float)g.ground_temperature) + 273.15f;
x = log(scaling) * temp * 29271.267f; x = log(scaling) * temp * 29271.267f;