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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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48
src/main/mw.c
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@ -375,10 +375,12 @@ typedef enum {
#endif
#ifdef BARO
UPDATE_BARO_TASK,
CALCULATE_ALTITUDE_TASK,
#endif
#ifdef SONAR
UPDATE_SONAR_TASK,
#endif
#if defined(BARO) || defined(SONAR)
CALCULATE_ALTITUDE_TASK,
#endif
UPDATE_GPS_TASK
} periodicTasks;
@ -405,9 +407,20 @@ void executePeriodicTasks(void)
baroUpdate(currentTime);
}
break;
#endif
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#endif
calculateEstimatedAltitude(currentTime);
}
break;
@ -548,7 +561,7 @@ void processRx(void)
void loop(void)
{
static uint32_t loopTime;
#ifdef BARO
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
#endif
@ -558,13 +571,23 @@ void loop(void)
processRx();
#ifdef BARO
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
}
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
}
#endif
#ifdef SONAR
// the 'annexCode' initialses rcCommand, updateAltHoldState depends on valid rcCommand data.
if (haveProcessedAnnexCodeOnce) {
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
}
#endif
} else {
// not processing rx this iteration
executePeriodicTasks();
@ -582,7 +605,7 @@ void loop(void)
previousTime = currentTime;
annexCode();
#ifdef BARO
#if defined(BARO) || defined(SONAR)
haveProcessedAnnexCodeOnce = true;
#endif
@ -596,13 +619,12 @@ void loop(void)
}
#endif
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (FLIGHT_MODE(BARO_MODE)) {
#if defined(BARO) || defined(SONAR)
if (sensors(SENSOR_BARO) || sensors(SENSOR_SONAR)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(SONAR_MODE)) {
updateAltHold();
}
}
#endif
if (currentProfile->throttle_correction_value && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE))) {