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Merge pull request #9951 from jflyper/bfdev-fix-baroCalculateAltitude

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Fix baroCalculateAltitude
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Michael Keller 2020-06-29 00:56:49 +12:00 • committed by GitHub
commit 228fe72485
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1 changed files with 6 additions and 2 deletions
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8
src/main/sensors/barometer.c
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@ -428,14 +428,18 @@ uint32_t baroUpdate(void)
return sleepTime; return sleepTime;
} }
static float pressureToAltitude(const float pressure)
{
return (1.0f - powf(pressure / 101325.0f, 0.190295f)) * 4433000.0f;
}
int32_t baroCalculateAltitude(void) int32_t baroCalculateAltitude(void)
{ {
int32_t BaroAlt_tmp; int32_t BaroAlt_tmp;
// calculates height from ground via baro readings // calculates height from ground via baro readings
// see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
if (baroIsCalibrationComplete()) { if (baroIsCalibrationComplete()) {
BaroAlt_tmp = lrintf((1.0f - pow_approx((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190259f)) * 4433000.0f); // in cm BaroAlt_tmp = lrintf(pressureToAltitude((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT)));
BaroAlt_tmp -= baroGroundAltitude; BaroAlt_tmp -= baroGroundAltitude;
baro.BaroAlt = lrintf((float)baro.BaroAlt * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf) + (float)BaroAlt_tmp * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf))); // additional LPF to reduce baro noise baro.BaroAlt = lrintf((float)baro.BaroAlt * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf) + (float)BaroAlt_tmp * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf))); // additional LPF to reduce baro noise
} }