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Code allowing the use of sonar without requiring a barometer.

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This code has been flight tested on a Naze32 acro, with no barometer onboard.  It also works when the target doesn't have BARO defined.
This commit is contained in:
Ben Hitchcock 2014-09-05 11:28:55 +08:00
parent f22953b37a
commit 66fce423bb
8 changed files with 72 additions and 19 deletions
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10
src/main/flight/imu.c
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@ -372,7 +372,8 @@ int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
return lrintf(throttle_correction_value * sinf(angle / (900.0f * M_PI / 2.0f)));
}
#ifdef BARO
#if defined(BARO) || defined(SONAR)
// 40hz update rate (20hz LPF on acc)
#define BARO_UPDATE_FREQUENCY_40HZ (1000 * 25)
@ -453,6 +454,7 @@ void calculateEstimatedAltitude(uint32_t currentTime)
previousTime = currentTime;
#ifdef BARO
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
vel = 0;
@ -460,6 +462,10 @@ void calculateEstimatedAltitude(uint32_t currentTime)
}
BaroAlt = baroCalculateAltitude();
#else
BaroAlt = 0;
#endif
#ifdef SONAR
tiltAngle = calculateTiltAngle(&inclination);
@ -496,9 +502,11 @@ void calculateEstimatedAltitude(uint32_t currentTime)
accSum_reset();
#ifdef BARO
if (!isBaroCalibrationComplete()) {
return;
}
#endif
if (sonarAlt > 0 && sonarAlt < 200) {
// the sonar has the best range