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Cleanup

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3293 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-09-07 04:56:19 +00:00
parent c152e364a8
commit 1853c8ae0a
2 changed files with 10 additions and 11 deletions
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2
ArduCopterMega/Log.pde
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@ -564,7 +564,7 @@ static void Log_Write_Nav_Tuning()
static void Log_Read_Nav_Tuning() static void Log_Read_Nav_Tuning()
{ {
Serial.printf_P(PSTR( "NTUN, %d, %d, %d, %d, %d, %d\n", Serial.printf_P(PSTR("NTUN, %d, %d, %d, %d, %d, %d\n"),
DataFlash.ReadInt(), // distance DataFlash.ReadInt(), // distance
DataFlash.ReadByte(), // wp_verify_byte DataFlash.ReadByte(), // wp_verify_byte
DataFlash.ReadInt(), // target_bearing DataFlash.ReadInt(), // target_bearing

19
ArduCopterMega/sensors.pde
View File

@ -17,11 +17,11 @@ static void init_barometer(void)
// We take some readings... // We take some readings...
for(i = 0; i < 60; i++){ for(i = 0; i < 60; i++){
delay(20); delay(20);
//read_baro_filtered();
// get new data from absolute pressure sensor // get new data from absolute pressure sensor
barometer.Read(); barometer.Read();
Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press); //Serial.printf("init %ld, %d, -, %ld, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press);
} }
for(i = 0; i < 20; i++){ for(i = 0; i < 20; i++){
@ -32,13 +32,10 @@ static void init_barometer(void)
#endif #endif
// Get initial data from absolute pressure sensor // Get initial data from absolute pressure sensor
//ground_pressure = read_baro_filtered();
// get new data from absolute pressure sensor
barometer.Read(); barometer.Read();
ground_pressure = barometer.Press; ground_pressure = barometer.Press;
ground_temperature = (ground_temperature * 9 + barometer.Temp) / 10; ground_temperature = (ground_temperature * 9 + barometer.Temp) / 10;
Serial.printf("init %ld, %d, -, %ld, %ld, -, %d, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press, ground_temperature, ground_pressure); //Serial.printf("init %ld, %d, -, %ld, %ld, -, %d, %ld\n", barometer.RawTemp, barometer.Temp, barometer.RawPress, barometer.Press, ground_temperature, ground_pressure);
} }
abs_pressure = ground_pressure; abs_pressure = ground_pressure;
@ -47,6 +44,7 @@ static void init_barometer(void)
//SendDebugln("barometer calibration complete."); //SendDebugln("barometer calibration complete.");
} }
/*
static long read_baro_filtered(void) static long read_baro_filtered(void)
{ {
@ -55,7 +53,6 @@ static long read_baro_filtered(void)
return barometer.Press; return barometer.Press;
/*
long pressure = 0; long pressure = 0;
// add new data into our filter // add new data into our filter
baro_filter[baro_filter_index] = barometer.Press; baro_filter[baro_filter_index] = barometer.Press;
@ -75,14 +72,16 @@ static long read_baro_filtered(void)
// average our sampels // average our sampels
return pressure /= BARO_FILTER_SIZE; return pressure /= BARO_FILTER_SIZE;
//*/ //
} }
*/
static long read_barometer(void) static long read_barometer(void)
{ {
float x, scaling, temp; float x, scaling, temp;
abs_pressure = read_baro_filtered(); barometer.Read();
abs_pressure = barometer.Press;
//Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure); //Serial.printf("%ld, %ld, %ld, %ld\n", barometer.RawTemp, barometer.RawPress, barometer.Press, abs_pressure);