From c3d87757977748202a845ebe7f8b23f8302746ba Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Tue, 1 Nov 2011 09:22:21 -0700
Subject: [PATCH] Baro

Minimized the baro filtering to use a new approach to rate control. Redid the state machine so the temp is sampled more often.
---
 libraries/APM_BMP085/APM_BMP085.cpp | 26 +++++++++++++++++++++++++-
 libraries/APM_BMP085/APM_BMP085.h   |  6 +++---
 2 files changed, 28 insertions(+), 4 deletions(-)

diff --git a/libraries/APM_BMP085/APM_BMP085.cpp b/libraries/APM_BMP085/APM_BMP085.cpp
index 22b6806b57..7e007ac130 100644
--- a/libraries/APM_BMP085/APM_BMP085.cpp
+++ b/libraries/APM_BMP085/APM_BMP085.cpp
@@ -95,7 +95,7 @@ void APM_BMP085_Class::Init(int initialiseWireLib)
 	BMP085_State = 1;
 }
 
-
+/*
 // Read the sensor. This is a state machine
 // We read one time Temperature (state=1) and then 4 times Pressure (states 2-5)
 uint8_t APM_BMP085_Class::Read()
@@ -130,6 +130,30 @@ uint8_t APM_BMP085_Class::Read()
 	}
 	return(result);
 }
+*/
+// Read the sensor. This is a state machine
+// We read one time Temperature (state=1) and then 4 times Pressure (states 2-5)
+uint8_t APM_BMP085_Class::Read()
+{
+	uint8_t result = 0;
+
+	if (BMP085_State == 1){
+		if (digitalRead(BMP085_EOC)){
+			BMP085_State = 2;
+			ReadTemp();						 // On state 1 we read temp
+			Command_ReadPress();
+		}
+	}else{
+		if (digitalRead(BMP085_EOC)){
+			BMP085_State = 1;			// Start again from state = 1
+			ReadPress();
+			Calculate();
+			Command_ReadTemp();			// Read Temp
+			result = 1;					// New pressure reading
+		}
+	}
+	return(result);
+}
 
 
 // Send command to Read Pressure
diff --git a/libraries/APM_BMP085/APM_BMP085.h b/libraries/APM_BMP085/APM_BMP085.h
index fb44e68a8c..66d950a3d6 100644
--- a/libraries/APM_BMP085/APM_BMP085.h
+++ b/libraries/APM_BMP085/APM_BMP085.h
@@ -1,8 +1,8 @@
 #ifndef APM_BMP085_h
 #define APM_BMP085_h
 
-#define TEMP_FILTER_SIZE 16
-#define PRESS_FILTER_SIZE 10
+#define TEMP_FILTER_SIZE 2
+#define PRESS_FILTER_SIZE 2
 
 #include "APM_BMP085_hil.h"
 
@@ -13,6 +13,7 @@ class APM_BMP085_Class
 			_temp_index(0),
 			_press_index(0){};  // Constructor
 	int32_t RawPress;
+	int32_t	_offset_press;
 	int32_t RawTemp;
 	int16_t Temp;
 	int32_t Press;
@@ -32,7 +33,6 @@ class APM_BMP085_Class
 
 	int	 	_temp_filter[TEMP_FILTER_SIZE];
 	int	 	_press_filter[PRESS_FILTER_SIZE];
-	long	_offset_press;
 	long	_offset_temp;
 
 	uint8_t	_temp_index;