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Merge branch 'Jacob'

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This commit is contained in:
Rustom Jehangir 2016-01-20 22:01:38 -08:00
commit c4e671b750
3 changed files with 4 additions and 4 deletions
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2
libraries/AP_Baro/AP_Baro.cpp
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@ -404,7 +404,7 @@ void AP_Baro::update(void)
} else if(sensors[i].type == BARO_TYPE_WATER) { } else if(sensors[i].type == BARO_TYPE_WATER) {
//101325Pa is sea level air pressure, 9800 Pascal/ m depth in water. //101325Pa is sea level air pressure, 9800 Pascal/ m depth in water.
//No temperature or depth compensation for density of water. //No temperature or depth compensation for density of water.
altitude = (sensors[i].ground_pressure - sensors[i].pressure) * sensors[i].precision_multiplier / 9800.0f / _specific_gravity; altitude = (sensors[i].ground_pressure - sensors[i].pressure) / 9800.0f / _specific_gravity;
} }
// sanity check altitude // sanity check altitude
sensors[i].alt_ok = !(isnan(altitude) || isinf(altitude)); sensors[i].alt_ok = !(isnan(altitude) || isinf(altitude));

4
libraries/AP_Baro/AP_Baro.h
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@ -43,7 +43,7 @@ public:
// pressure in Pascal. Divide by 100 for millibars or hectopascals // pressure in Pascal. Divide by 100 for millibars or hectopascals
float get_pressure(void) const { return get_pressure(_primary); } float get_pressure(void) const { return get_pressure(_primary); }
float get_pressure(uint8_t instance) const { return sensors[instance].pressure * sensors[instance].precision_multiplier; } float get_pressure(uint8_t instance) const { return sensors[instance].pressure; }
// temperature in degrees C // temperature in degrees C
float get_temperature(void) const { return get_temperature(_primary); } float get_temperature(void) const { return get_temperature(_primary); }
@ -88,7 +88,7 @@ public:
// ground pressure in Pascal // ground pressure in Pascal
// the ground values are only valid after calibration // the ground values are only valid after calibration
float get_ground_pressure(void) const { return get_ground_pressure(_primary); } float get_ground_pressure(void) const { return get_ground_pressure(_primary); }
float get_ground_pressure(uint8_t i) const { return sensors[i].ground_pressure.get() * sensors[i].precision_multiplier; } float get_ground_pressure(uint8_t i) const { return sensors[i].ground_pressure.get(); }
// set the temperature to be used for altitude calibration. This // set the temperature to be used for altitude calibration. This
// allows an external temperature source (such as a digital // allows an external temperature source (such as a digital

2
libraries/AP_Baro/AP_Baro_Backend.cpp
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@ -16,7 +16,7 @@ void AP_Baro_Backend::_copy_to_frontend(uint8_t instance, float pressure, float
if (instance >= _frontend._num_sensors) { if (instance >= _frontend._num_sensors) {
return; return;
} }
_frontend.sensors[instance].pressure = pressure; _frontend.sensors[instance].pressure = pressure * _frontend.sensors[instance].precision_multiplier;
_frontend.sensors[instance].temperature = temperature; _frontend.sensors[instance].temperature = temperature;
_frontend.sensors[instance].last_update_ms = AP_HAL::millis(); _frontend.sensors[instance].last_update_ms = AP_HAL::millis();
} }