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Sub: AP_Baro library takes care of baro type

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Jacob Walser 2017-02-09 16:32:07 -05:00 committed by Andrew Tridgell
parent fb8a61df22
commit 942d6450d2
1 changed files with 0 additions and 24 deletions
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24
ArduSub/system.cpp
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@ -233,34 +233,16 @@ void Sub::init_ardupilot()
barometer.update();
if (barometer.healthy(1)) { // We have an external MS58XX pressure sensor connected
barometer.set_primary_baro(1); // Set the primary baro to external MS58XX !!Changes and saves parameter value!!
ap.depth_sensor_present = true;
for (int i = 1; i < barometer.num_instances(); i++) {
barometer.set_type(i, AP_Baro::BARO_TYPE_WATER); // Altitude (depth) is calculated differently underwater
barometer.set_precision_multiplier(i, 40); // The MS58XX values reported need to be multiplied by 10 to match units everywhere else
}
EKF2.set_baro_alt_noise(0.1f); // Depth readings are very accurate and up-to-date
EKF3.set_baro_alt_noise(0.1f);
} else { //We only have onboard baro
// No external underwater depth sensor detected
barometer.set_primary_baro(0); // Set the primary baro to default board baro !!Changes and saves parameter value!!
ap.depth_sensor_present = false;
for (int i = 1; i < barometer.num_instances(); i++) {
barometer.set_type(i, AP_Baro::BARO_TYPE_AIR); // Default fcu air baro
barometer.set_precision_multiplier(i, 1); // Use default values
}
EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
EKF3.set_baro_alt_noise(10.0f);
}
leak_detector.init();
@ -269,12 +251,6 @@ void Sub::init_ardupilot()
//-----------------------------
init_barometer(true);
// cope with MS5607 in place of MS5611 on fake pixhawks
if (barometer.get_pressure(0) < 60000) {
barometer.set_precision_multiplier(0, 2);
init_barometer(true); // recalibrate with correct scalar
}
// backwards compatibility
if (attitude_control.get_accel_yaw_max() < 110000.0f) {
attitude_control.save_accel_yaw_max(110000.0f);