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Fixed Barometer Reading

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This commit is contained in:
Wenyao Xie 2011-12-06 13:26:07 -05:00
parent 0db1a41316
commit 80f5292d31
2 changed files with 13 additions and 7 deletions
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2
apo/QuadArducopter.h
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@ -34,7 +34,7 @@ static const uint32_t gpsBaud = 38400;
static const uint32_t hilBaud = 115200; static const uint32_t hilBaud = 115200;
// optional sensors // optional sensors
static const bool gpsEnabled = true; static const bool gpsEnabled = false;
static const bool baroEnabled = true; static const bool baroEnabled = true;
static const bool compassEnabled = true; static const bool compassEnabled = true;
static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD; static const Matrix3f compassOrientation = AP_COMPASS_COMPONENTS_UP_PINS_FORWARD;

18
libraries/APO/AP_Navigator.cpp
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@ -179,12 +179,12 @@ void DcmNavigator::updateFast(float dt) {
_hal->baro->Read(); // Get new data from absolute pressure sensor _hal->baro->Read(); // Get new data from absolute pressure sensor
//abs_pressure = (abs_pressure + barometer.Press) >> 1; // Small filtering float abs_pressure = getGroundPressure() * .7 + _hal->baro->Press * .3; // large filtering
float abs_pressure = (getGroundPressure() * .7) + (_hal->baro->Press * .3); // large filtering scaling = getGroundPressure()/abs_pressure;
scaling = getGroundPressure() / (float)abs_pressure; temp = getGroundTemperature() + 273.15f;
temp = (getGroundTemperature()) + 273.15f;
x = log(scaling) * temp * 29271.267f; x = log(scaling) * temp * 29271.267f;
setAlt(x / 10); _hal->debug->printf_P(PSTR("Ground Pressure %f\tAbsolute Pressure = %f\tGround Temperature = %f\tscaling= %f\n"),getGroundPressure(),abs_pressure,temp,log(scaling));
setAlt_intM(x / 10); //changed this from 10 to 100
} }
} }
@ -221,7 +221,13 @@ void DcmNavigator::updateSlow(float dt) {
if (_hal->gps->fix && _hal->gps->new_data) { if (_hal->gps->fix && _hal->gps->new_data) {
setLat_degInt(_hal->gps->latitude); setLat_degInt(_hal->gps->latitude);
setLon_degInt(_hal->gps->longitude); setLon_degInt(_hal->gps->longitude);
setAlt_intM(_hal->gps->altitude * 10); // gps in cm, intM in mm //Preferential Barometer Altitude
if (_hal->baro) {
setAlt_intM(getAlt_intM());
}
else {
setAlt_intM(_hal->gps->altitude * 10); // gps in cm, intM in mm
}
setGroundSpeed(_hal->gps->ground_speed / 100.0); // gps is in cm/s setGroundSpeed(_hal->gps->ground_speed / 100.0); // gps is in cm/s
} }
} }