Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 17:25:20 +03:00
Code Issues Wiki Activity

Added calibration menu to CMS.

Browse source
This commit is contained in:
mikeller 2019-11-16 12:24:49 +13:00 • committed by Michael Keller
parent c6e5882dd9
commit cedcf2d7e2
41 changed files with 387 additions and 143 deletions
Download patch file Download diff file Expand all files Collapse all files

14
src/main/sensors/barometer.c
View file

@ -275,7 +275,7 @@ bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse)
return true;
}
bool isBaroCalibrationComplete(void)
bool baroIsCalibrationComplete(void)
{
return calibratingB == 0;
}
@ -434,7 +434,7 @@ 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
if (isBaroCalibrationComplete()) {
if (baroIsCalibrationComplete()) {
BaroAlt_tmp = lrintf((1.0f - pow_approx((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190259f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
baro.BaroAlt = lrintf((float)baro.BaroAlt * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf) + (float)BaroAlt_tmp * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf))); // additional LPF to reduce baro noise
@ -453,11 +453,11 @@ void performBaroCalibrationCycle(void)
baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
baroGroundAltitude = (1.0f - pow_approx((baroGroundPressure / 8) / 101325.0f, 0.190259f)) * 4433000.0f;
if (baroGroundPressure == savedGroundPressure)
calibratingB = 0;
else {
calibratingB--;
savedGroundPressure=baroGroundPressure;
if (baroGroundPressure == savedGroundPressure) {
calibratingB = 0;
} else {
calibratingB--;
savedGroundPressure = baroGroundPressure;
}
}