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oops. gyro only does NOT need getEstimatedAttitude. bad!

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ms5611 driver improvements (was failing below 20c)
merged some althold cleanups

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@411 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-21 11:18:15 +00:00
parent 1ff4bcec5a
commit 64e8f247bf
4 changed files with 23 additions and 26 deletions
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26
src/drv_ms5611.c
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@ -154,29 +154,27 @@ static void ms5611_get_up(void)
static void ms5611_calculate(int32_t *pressure, int32_t *temperature)
{
int32_t temp, off2 = 0, sens2 = 0, delt;
int32_t press;
int64_t dT = ms5611_ut - ((int32_t)ms5611_c[5] << 8);
int64_t off = ((uint32_t)ms5611_c[2] << 16) + ((dT * ms5611_c[4]) >> 7);
int64_t sens = ((uint32_t)ms5611_c[1] << 15) + ((dT * ms5611_c[3]) >> 8);
temp = 2000 + ((dT * ms5611_c[6]) >> 23);
uint32_t press;
int64_t temp;
int64_t delt;
int32_t dT = (int64_t)ms5611_ut - ((uint64_t)ms5611_c[5] * 256);
int64_t off = ((int64_t)ms5611_c[2] << 16) + (((int64_t)ms5611_c[4] * dT) >> 7);
int64_t sens = ((int64_t)ms5611_c[1] << 15) + (((int64_t)ms5611_c[3] * dT) >> 8);
temp = 2000 + ((dT * (int64_t)ms5611_c[6]) >> 23);
if (temp < 2000) { // temperature lower than 20degC
delt = temp - 2000;
delt = 5 * delt * delt;
off2 = delt >> 1;
sens2 = delt >> 2;
off -= delt >> 1;
sens -= delt >> 2;
if (temp < -1500) { // temperature lower than -15degC
delt = temp + 1500;
delt = delt * delt;
off2 += 7 * delt;
sens2 += (11 * delt) >> 1;
off -= 7 * delt;
sens -= (11 * delt) >> 1;
}
}
off -= off2;
sens -= sens2;
press = (((ms5611_up * sens ) >> 21) - off) >> 15;
press = ((((int64_t)ms5611_up * sens ) >> 21) - off) >> 15;
if (pressure)
*pressure = press;