diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 7e8fed1d60..9311475fbe 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -429,7 +429,7 @@ test_imu(uint8_t argc, const Menu::arg *argv) while(1){ //delay(20); - if (millis() - fast_loopTimer >= 5) { + if (millis() - fast_loopTimer >=5) { // IMU // --- @@ -795,9 +795,16 @@ test_baro(uint8_t argc, const Menu::arg *argv) init_barometer(); while(1){ + delay(100); + barometer.Read(); delay(100); baro_alt = read_barometer(); - Serial.printf_P(PSTR("Baro: %dcm\n"), baro_alt); + + int temp_rate = (barometer._offset_press - barometer.RawPress) << 1; + altitude_rate = (temp_rate - old_rate) * 10; + old_rate = temp_rate; + // 1 2 3 4 5 1 2 3 4 5 + Serial.printf_P(PSTR("Baro: %dcm, rate:%d, %ld, %ld, %d\n"), baro_alt, altitude_rate, barometer.RawTemp, barometer.RawPress, temp_rate); //Serial.printf_P(PSTR("Baro, %d, %ld, %ld, %ld, %ld\n"), baro_alt, barometer.RawTemp, barometer.RawTemp2, barometer.RawPress, barometer.RawPress2); if(Serial.available() > 0){ return (0);