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Preparation for conversion to parameter groups

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This commit is contained in:
Martin Budden 2017-01-24 19:42:29 +00:00
parent 6f872ba899
commit 79d4b2146d
90 changed files with 1150 additions and 507 deletions
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15
src/main/sensors/barometer.c
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@ -23,6 +23,9 @@
#include "common/maths.h"
#include "config/parameter_group.h"
#include "config/parameter_group_ids.h"
#include "drivers/barometer.h"
#include "drivers/barometer_bmp085.h"
#include "drivers/barometer_bmp280.h"
@ -51,7 +54,9 @@ static int32_t baroGroundAltitude = 0;
static int32_t baroGroundPressure = 0;
static uint32_t baroPressureSum = 0;
#ifndef USE_PARAMETER_GROUPS
static const barometerConfig_t *barometerConfig;
#endif
bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
{
@ -121,7 +126,11 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
void useBarometerConfig(const barometerConfig_t *barometerConfigToUse)
{
#ifdef USE_PARAMETER_GROUPS
(void)(barometerConfigToUse);
#else
barometerConfig = barometerConfigToUse;
#endif
}
bool isBaroCalibrationComplete(void)
@ -160,7 +169,7 @@ static int32_t applyBarometerMedianFilter(int32_t newPressureReading)
return newPressureReading;
}
#define PRESSURE_SAMPLE_COUNT (barometerConfig->baro_sample_count - 1)
#define PRESSURE_SAMPLE_COUNT (barometerConfig()->baro_sample_count - 1)
static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
{
@ -213,7 +222,7 @@ uint32_t baroUpdate(void)
baro.dev.get_up();
baro.dev.start_ut();
baro.dev.calculate(&baroPressure, &baroTemperature);
baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
baroPressureSum = recalculateBarometerTotal(barometerConfig()->baro_sample_count, baroPressureSum, baroPressure);
state = BAROMETER_NEEDS_SAMPLES;
return baro.dev.ut_delay;
break;
@ -228,7 +237,7 @@ int32_t baroCalculateAltitude(void)
// see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
baro.BaroAlt = lrintf((float)baro.BaroAlt * barometerConfig->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig->baro_noise_lpf)); // additional LPF to reduce baro noise
baro.BaroAlt = lrintf((float)baro.BaroAlt * barometerConfig()->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig()->baro_noise_lpf)); // additional LPF to reduce baro noise
return baro.BaroAlt;
}