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Reworked altitude estimation. Made it work when ACC is disabled.

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This commit is contained in:
mikeller 2017-03-29 02:01:09 +13:00
parent 9053feb418
commit 6a03b48e7f
21 changed files with 127 additions and 135 deletions
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4
src/test/Makefile
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@ -25,7 +25,7 @@ alignsensor_unittest_SRC := \
altitude_hold_unittest_SRC := \
$(USER_DIR)/flight/altitudehold.c
$(USER_DIR)/flight/altitude.c
baro_bmp085_unittest_SRC := \
@ -66,7 +66,7 @@ flight_failsafe_unittest_SRC := \
flight_imu_unittest_SRC := \
$(USER_DIR)/flight/imu.c \
$(USER_DIR)/flight/altitudehold.c \
$(USER_DIR)/flight/altitude.c \
$(USER_DIR)/common/maths.c

2
src/test/unit/altitude_hold_unittest.cc.txt
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@ -45,7 +45,7 @@ extern "C" {
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/altitude.h"
#include "config/runtime_config.h"

3
src/test/unit/telemetry_hott_unittest.cc
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@ -183,7 +183,8 @@ uint32_t fixedMillis = 0;
baro_t baro;
int32_t vario = 0;
uint32_t getEstimatedAltitude() { return 0; }
uint32_t getEstimatedVario() { return 0; }
uint32_t millis(void) {
return fixedMillis;