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AP_Baro: remove Baro accumulate API

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no backend actually needs to be prodded, everything is done on timers
This commit is contained in:
Peter Barker 2024-04-17 23:21:16 +10:00 committed by Peter Barker
parent 3b51278481
commit c5f4fe9a8a
4 changed files with 2 additions and 27 deletions
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10
libraries/AP_Baro/AP_Baro.cpp
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@ -1043,16 +1043,6 @@ void AP_Baro::update_field_elevation(void)
#endif #endif
} }
/*
call accumulate on all drivers
*/
void AP_Baro::accumulate(void)
{
for (uint8_t i=0; i<_num_drivers; i++) {
drivers[i]->accumulate();
}
}
/* register a new sensor, claiming a sensor slot. If we are out of /* register a new sensor, claiming a sensor slot. If we are out of
slots it will panic slots it will panic

4
libraries/AP_Baro/AP_Baro.h
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@ -87,10 +87,6 @@ public:
// get pressure correction in Pascal. Divide by 100 for millibars or hectopascals // get pressure correction in Pascal. Divide by 100 for millibars or hectopascals
float get_pressure_correction(void) const { return get_pressure_correction(_primary); } float get_pressure_correction(void) const { return get_pressure_correction(_primary); }
float get_pressure_correction(uint8_t instance) const { return sensors[instance].p_correction; } float get_pressure_correction(uint8_t instance) const { return sensors[instance].p_correction; }
// accumulate a reading on sensors. Some backends without their
// own thread or a timer may need this.
void accumulate(void);
// calibrate the barometer. This must be called on startup if the // calibrate the barometer. This must be called on startup if the
// altitude/climb_rate/acceleration interfaces are ever used // altitude/climb_rate/acceleration interfaces are ever used

5
libraries/AP_Baro/AP_Baro_Backend.h
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@ -12,11 +12,6 @@ public:
// data to the frontend // data to the frontend
virtual void update() = 0; virtual void update() = 0;
// accumulate function. This is used for backends that don't use a
// timer, and need to be called regularly by the main code to
// trigger them to read the sensor
virtual void accumulate(void) {}
void backend_update(uint8_t instance); void backend_update(uint8_t instance);
// Check that the baro valid by using a mean filter. // Check that the baro valid by using a mean filter.

10
libraries/AP_Baro/examples/BARO_generic/BARO_generic.cpp
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@ -33,7 +33,6 @@ static AP_Baro barometer;
#endif // HAL_EXTERNAL_AHRS_ENABLED #endif // HAL_EXTERNAL_AHRS_ENABLED
static uint32_t timer; static uint32_t timer;
static uint8_t counter;
static AP_BoardConfig board_config; static AP_BoardConfig board_config;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -69,14 +68,9 @@ void loop()
return; return;
} }
// run accumulate() at 50Hz and update() at 10Hz // run update() at 10Hz
if ((AP_HAL::micros() - timer) > 20 * 1000UL) { if ((AP_HAL::micros() - timer) > 100 * 1000UL) {
timer = AP_HAL::micros(); timer = AP_HAL::micros();
barometer.accumulate();
if (counter++ < 5) {
return;
}
counter = 0;
barometer.update(); barometer.update();
//calculate time taken for barometer readings to update //calculate time taken for barometer readings to update