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Moved sensor global data into sensor_s structs

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This commit is contained in:
Martin Budden 2016-11-19 14:11:03 +00:00
parent fd5710051e
commit b8b9c95f57
69 changed files with 359 additions and 343 deletions
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30
src/main/sensors/barometer.c
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@ -21,9 +21,6 @@
#include "platform.h"
int32_t BaroAlt = 0;
#ifdef BARO
#include "common/maths.h"
#include "drivers/barometer.h"
@ -32,9 +29,12 @@ int32_t BaroAlt = 0;
#include "sensors/barometer.h"
baro_t baro; // barometer access functions
uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
int32_t baroPressure = 0;
int32_t baroTemperature = 0;
#ifdef BARO
static uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
static int32_t baroPressure = 0;
static int32_t baroTemperature = 0;
static int32_t baroGroundAltitude = 0;
static int32_t baroGroundPressure = 0;
@ -126,19 +126,19 @@ uint32_t baroUpdate(void)
switch (state) {
default:
case BAROMETER_NEEDS_SAMPLES:
baro.get_ut();
baro.start_up();
baro.dev.get_ut();
baro.dev.start_up();
state = BAROMETER_NEEDS_CALCULATION;
return baro.up_delay;
return baro.dev.up_delay;
break;
case BAROMETER_NEEDS_CALCULATION:
baro.get_up();
baro.start_ut();
baro.calculate(&baroPressure, &baroTemperature);
baro.dev.get_up();
baro.dev.start_ut();
baro.dev.calculate(&baroPressure, &baroTemperature);
baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
state = BAROMETER_NEEDS_SAMPLES;
return baro.ut_delay;
return baro.dev.ut_delay;
break;
}
}
@ -151,9 +151,9 @@ 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;
BaroAlt = lrintf((float)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 BaroAlt;
return baro.BaroAlt;
}
void performBaroCalibrationCycle(void)