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Remove sensor_barometer.c's dependency on mw.h/board.h.

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This also cleans the code - No magic numbers, clearly defines states,
config variables grouped together, avoiding some global variable use.
This commit is contained in:
Dominic Clifton 2014-04-22 23:46:25 +01:00
parent c08d0ac1b3
commit e2550ee5e1
8 changed files with 120 additions and 62 deletions
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8
src/flight_imu.c
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@ -54,11 +54,7 @@ int32_t vario = 0; // variometer in cm/s
int16_t throttleAngleCorrection = 0; // correction of throttle in lateral wind,
float throttleAngleScale;
int32_t baroPressure = 0;
int32_t baroTemperature = 0;
uint32_t baroPressureSum = 0;
int32_t BaroPID = 0;
int32_t BaroAlt = 0;
float magneticDeclination = 0.0f; // calculated at startup from config
@ -400,7 +396,7 @@ int getEstimatedAltitude(void)
// Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * currentProfile.baro_cf_alt + (float)BaroAlt * (1.0f - currentProfile.baro_cf_alt); // complementary filter for Altitude estimation (baro & acc)
accAlt = accAlt * currentProfile.barometerConfig.baro_cf_alt + (float)BaroAlt * (1.0f - currentProfile.barometerConfig.baro_cf_alt); // complementary filter for Altitude estimation (baro & acc)
EstAlt = accAlt;
vel += vel_acc;
@ -420,7 +416,7 @@ int getEstimatedAltitude(void)
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * currentProfile.baro_cf_vel + baroVel * (1 - currentProfile.baro_cf_vel);
vel = vel * currentProfile.barometerConfig.baro_cf_vel + baroVel * (1 - currentProfile.barometerConfig.baro_cf_vel);
vel_tmp = lrintf(vel);
// set vario