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Refactor Baro to floats, filter at position rate

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convert pressure to altitude early
remove median filter
PT2 filtering upsampled to altitude function in position.c - thanks KarateBrot
baro task synced to position task - thanks Steve
PT2 implementation - thanks KarateBrot
ground altitude from filtered altitude
baro cali by average of calibration samples over cal period
adjust vario and smoothing defaults
don't say haveBaroAlt until cal is complete
reduce PIDs since Baro is faster
add baro smoothing values to blackbox header

Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de>
Co-Authored-By: Steve Evans <SteveCEvans@users.noreply.github.com>
This commit is contained in:
ctzsnooze 2022-08-02 15:21:38 +10:00
parent 21594c62e1
commit b2241b32c3
16 changed files with 209 additions and 212 deletions
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3
src/main/flight/position.h
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@ -22,6 +22,7 @@
#include "common/time.h"
#define TASK_ALTITUDE_RATE_HZ 120
#define POSITION_DEFAULT_ALT_NUM_SATS_GPS_USE 10
#define POSITION_DEFAULT_ALT_NUM_SATS_BARO_FALLBACK 7
@ -34,6 +35,6 @@ typedef struct positionConfig_s {
PG_DECLARE(positionConfig_t, positionConfig);
bool isAltitudeOffset(void);
void calculateEstimatedAltitude(timeUs_t currentTimeUs);
void calculateEstimatedAltitude();
int32_t getEstimatedAltitudeCm(void);
int16_t getEstimatedVario(void);