Commit Graph

24 Commits

Author SHA1 Message Date
Andrew Tridgell e5846bd965 AP_Baro: removed _sync_access check
this isn't needed as the common variables are already protected by
cli()/sei()
2012-09-20 17:34:33 +10:00
uncrustify b0003c020f uncrustify libraries/AP_Baro/AP_Baro_MS5611.cpp 2012-08-21 19:00:18 -07:00
Andrew Tridgell f501503eb0 AP_Baro: improved barometer averaging
this changes the barometer calculations to floating point. On a MS5611
this is actually about twice as fast as the previous 64 bit
calculations, but gains us more accuracy as we are able to take
advantage of sub-bit precision when we average over 8 samples.
2012-07-06 15:11:30 +10:00
Andrew Tridgell 209136386b AP_Baro: added get_pressure_samples() interface
this returns how many samples were used to calculate the last pressure
2012-07-05 16:29:21 +10:00
Andrew Tridgell 057eb5e6f6 Baro: average over all pressure/temperature samples on MS5611
this allows us to use the MS5611 barometer at its full 100Hz sample
rate (80Hz for pressure, 20Hz for temperature). The pressure and
temperature values are averaged between reads without adding any
latency. Previously the driver would throw away values between
readings

This also fixes a race condition in reading from the SPI bus that
could lead to bad values from the barometer
2012-07-02 13:44:53 +10:00
Andrew Tridgell c387edd74c Baro: added get_altitude() and get_climb_rate() interfaces
this allows the barometer driver to calibrate and return altitude and
climb rate values. This will be used by the AHRS drift correction code
for vertical velocity

The climb rate uses a 5 point average filter
2012-06-27 16:01:50 +10:00
Andrew Tridgell 88b2139d91 Baro: added suspend/resume on init 2012-05-01 12:06:54 +10:00
justinbeech 62b104cbfa Found free extra 256 bytes of RAM eliminate _clz use from libgcc
Believe it or not, changing / 2^31 to >>31 saved 256 bytes in the "d" segment.

The reason is that GCC version prior to 4.3.5 does not have a count_leading_zeros (clz) assembler macro, so it uses a 256 byte lookup table called _clz
The _clz table gets pulled in if you do 64 bit division.
This tiny change is the only place that we do long long division.
Changing to a shift saves 256 bytes of ram.
2012-02-17 09:46:05 +00:00
Jason Short 026e4a6567 change constant to float 44330.0 2012-02-15 09:10:14 -08:00
Andrew Tridgell 804332c340 AP_Baro: fixed some signed/unsigned warnings
and a potential bug on timer wrap
2012-02-13 21:39:18 +11:00
justinbeech 69f1613f2c Uncommented cold temp compensation after testing. Fixed read throttle so read rate ends up nailing 100hz, not 90hz. minor commenting improvements. 2012-02-13 00:00:06 +00:00
Andrew Tridgell 7ba744a11a I2C: convert barometer library to new I2C library
this also adds a healthy attribute and error checking
2011-12-28 20:41:53 +11:00
Andrew Tridgell e7720254dd AP_Baro: update MS5611 driver for new ap_proceduce prototype
this saves calling millis() quite so often
2011-12-21 23:31:38 +11:00
Andrew Tridgell bb0f179495 AP_Baro: fixed temperature on MS5611
this caused a 2x scaling of altitude
2011-12-17 14:58:58 +11:00
Pat Hickey f4aaa56b16 AP_Baro_MS5611: Asynchronous operation, plus c++ style changes.
Yeah, I know this was a big change to make all at once.
2011-12-11 15:21:10 -08:00
Pat Hickey d026e48032 AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
2011-12-11 15:21:10 -08:00
Pat Hickey f3ad7f3af8 Wire and SPI Init: move to sketch system.pde from libraries
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
2011-12-11 15:21:10 -08:00
Pat Hickey f52453beed AP_Baro_MS5611: init must also perform SPI.begin 2011-12-11 15:21:09 -08:00
Pat Hickey 64eb1889ab AP_Baro_MS5611: CS pin is arduino pin 40 2011-12-11 15:21:09 -08:00
Pat Hickey 1832ed0355 AP_Baro_MS5611: Implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey fdffd69257 AP_Baro_MS5611: renamed class implementation from APM_MS5611 2011-12-11 15:21:09 -08:00
Pat Hickey c407b0d85e AP_Baro_MS5611.h: reorganized
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
2011-12-11 15:21:09 -08:00
Pat Hickey 34cebd8a3e AP_Baro_MS5611: Overwrote with Jose Julio's latest files. 2011-12-11 15:21:09 -08:00
Pat Hickey 9250053bfe Added AP_Baro and AP_Baro_MS5611 classes.
Incomplete and does not work.
2011-12-11 15:21:08 -08:00