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APM: added error checking on barometer read 

if the barometer is dead and the GPS has a fix, use the GPS for
altitude
This commit is contained in:
Andrew Tridgell 2011-12-28 20:34:11 +11:00
parent 98353b7ba8
commit cd3729d993
3 changed files with 19 additions and 10 deletions
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8
ArduPlane/ArduPlane.pde
View File

@ -978,8 +978,12 @@ static void update_alt()
// this function is in place to potentially add a sonar sensor in the future
//altitude_sensor = BARO;
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100)
current_loc.alt += g.altitude_mix * (read_barometer() + home.alt);
if (barometer.healthy) {
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100)
current_loc.alt += g.altitude_mix * (read_barometer() + home.alt);
} else if (g_gps->fix) {
current_loc.alt = g_gps->altitude; // alt_MSL centimeters (meters * 100)
}
#endif
geofence_check(true);

9
ArduPlane/sensors.pde
View File

@ -11,7 +11,7 @@ static void init_barometer(void)
long ground_pressure = 0;
int ground_temperature;
while(ground_pressure == 0){
while (ground_pressure == 0 || !barometer.healthy) {
barometer.read(); // Get initial data from absolute pressure sensor
ground_pressure = barometer.get_pressure();
ground_temperature = barometer.get_temperature();
@ -22,10 +22,12 @@ static void init_barometer(void)
for(int i = 0; i < 30; i++){ // We take some readings...
#if HIL_MODE == HIL_MODE_SENSORS
gcs_update(); // look for inbound hil packets
gcs_update(); // look for inbound hil packets
#endif
barometer.read(); // Get initial data from absolute pressure sensor
do {
barometer.read(); // Get pressure sensor
} while (!barometer.healthy);
ground_pressure = (ground_pressure * 9l + barometer.get_pressure()) / 10l;
ground_temperature = (ground_temperature * 9 + barometer.get_temperature()) / 10;
@ -59,7 +61,6 @@ static long read_barometer(void)
barometer.read(); // Get new data from absolute pressure sensor
//abs_pressure = (abs_pressure + barometer.get_pressure()) >> 1; // Small filtering
abs_pressure = ((float)abs_pressure * .7) + ((float)barometer.get_pressure() * .3); // large filtering
scaling = (float)g.ground_pressure / (float)abs_pressure;

10
ArduPlane/test.pde
View File

@ -700,9 +700,13 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
delay(100);
current_loc.alt = read_barometer() + home.alt;
Serial.printf_P(PSTR("Alt: %0.2fm, Raw: %ld Temperature: %.1f\n"),
current_loc.alt / 100.0,
abs_pressure, 0.1*barometer.get_temperature());
if (!barometer.healthy) {
Serial.println_P(PSTR("not healthy"));
} else {
Serial.printf_P(PSTR("Alt: %0.2fm, Raw: %ld Temperature: %.1f\n"),
current_loc.alt / 100.0,
abs_pressure, 0.1*barometer.get_temperature());
}
if(Serial.available() > 0){
return (0);