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Remove flight_imu and flight_common.c's dependencies on the mw.h/board.h

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files.  Move baro calibration code into sensors_barometer.c.  Move other
sensor variables into appropriate files.
This commit is contained in:
Dominic Clifton 2014-04-21 11:29:01 +01:00
parent 51f2487cf5
commit b3430ae1be
7 changed files with 91 additions and 34 deletions
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32
src/sensors_barometer.c
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@ -1,9 +1,14 @@
#include "board.h"
#include "mw.h"
#include "drivers/barometer_common.h"
baro_t baro; // barometer access functions
#ifdef BARO
static int32_t baroGroundAltitude = 0;
static int32_t baroGroundPressure = 0;
void Baro_Common(void)
{
static int32_t baroHistTab[BARO_TAB_SIZE_MAX];
@ -46,4 +51,31 @@ int Baro_update(void)
return 1;
}
}
int32_t Baro_calculateAltitude(void)
{
int32_t BaroAlt_tmp;
// 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 / (cfg.baro_tab_size - 1)) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
BaroAlt = lrintf((float)BaroAlt * cfg.baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - cfg.baro_noise_lpf)); // additional LPF to reduce baro noise
return BaroAlt;
}
void performBaroCalibrationCycle(void)
{
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / (cfg.baro_tab_size - 1);
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
calibratingB--;
}
bool isBaroCalibrationComplete(void)
{
return calibratingB == 0;
}
#endif /* BARO */