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Barometer initialization improvements

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Assuming 1 std atm instead of vacuum before first calibration.
Sets altitude to zero during calibration (copied from cleanflight).
Stops calibration early when measurements are stable.
This commit is contained in:
ellingo 2017-02-18 19:25:41 +01:00
parent 981c0455dc
commit 948c66817e
1 changed files with 17 additions and 6 deletions
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23
src/main/sensors/barometer.c
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@ -51,7 +51,7 @@ static int32_t baroPressure = 0;
static int32_t baroTemperature = 0;
static int32_t baroGroundAltitude = 0;
static int32_t baroGroundPressure = 0;
static int32_t baroGroundPressure = 8*101325;
static uint32_t baroPressureSum = 0;
bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
@ -222,20 +222,31 @@ int32_t baroCalculateAltitude(void)
// calculates height from ground via baro readings
// 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
if (isBaroCalibrationComplete()) {
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
}
else {
baro.BaroAlt = 0;
}
return baro.BaroAlt;
}
void performBaroCalibrationCycle(void)
{
static int32_t savedGroundPressure = 0;
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
calibratingB--;
if (baroGroundPressure == savedGroundPressure)
calibratingB = 0;
else {
calibratingB--;
savedGroundPressure=baroGroundPressure;
}
}
#endif /* BARO */