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Introduced 'baroStartCalibration()' / 'baroSetGroundLevel()' to make barometer code more self contained.

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This commit is contained in:
mikeller 2019-11-16 12:48:47 +13:00
parent dd0b45dc87
commit ef556c0f59
8 changed files with 25 additions and 15 deletions
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2
src/main/fc/init.c
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@ -879,7 +879,7 @@ void init(void)
#endif #endif
gyroStartCalibration(false); gyroStartCalibration(false);
#ifdef USE_BARO #ifdef USE_BARO
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES); baroStartCalibration();
#endif #endif
#if defined(USE_VTX_COMMON) || defined(USE_VTX_CONTROL) #if defined(USE_VTX_COMMON) || defined(USE_VTX_CONTROL)

5
src/main/fc/rc_controls.c
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@ -241,8 +241,9 @@ void processRcStickPositions()
#endif #endif
#ifdef USE_BARO #ifdef USE_BARO
if (sensors(SENSOR_BARO)) if (sensors(SENSOR_BARO)) {
baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking) baroSetGroundLevel();
}
#endif #endif
return; return;

22
src/main/sensors/barometer.c
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@ -48,12 +48,9 @@
#include "fc/runtime_config.h" #include "fc/runtime_config.h"
#include "sensors/barometer.h"
#include "sensors/sensors.h" #include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION #include "barometer.h"
#include "hardware_revision.h"
#endif
baro_t baro; // barometer access functions baro_t baro; // barometer access functions
@ -139,6 +136,11 @@ static int32_t baroGroundAltitude = 0;
static int32_t baroGroundPressure = 8*101325; static int32_t baroGroundPressure = 8*101325;
static uint32_t baroPressureSum = 0; static uint32_t baroPressureSum = 0;
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
#define SET_GROUND_LEVEL_BARO_CYCLES 10 // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
static bool baroReady = false;
void baroPreInit(void) void baroPreInit(void)
{ {
#ifdef USE_SPI #ifdef USE_SPI
@ -278,12 +280,20 @@ bool isBaroCalibrationComplete(void)
return calibratingB == 0; return calibratingB == 0;
} }
void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired) static void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
{ {
calibratingB = calibrationCyclesRequired; calibratingB = calibrationCyclesRequired;
} }
static bool baroReady = false; void baroStartCalibration(void)
{
baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
}
void baroSetGroundLevel(void)
{
baroSetCalibrationCycles(SET_GROUND_LEVEL_BARO_CYCLES);
}
#define PRESSURE_SAMPLES_MEDIAN 3 #define PRESSURE_SAMPLES_MEDIAN 3

3
src/main/sensors/barometer.h
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@ -64,7 +64,8 @@ extern baro_t baro;
void baroPreInit(void); void baroPreInit(void);
bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse); bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse);
bool isBaroCalibrationComplete(void); bool isBaroCalibrationComplete(void);
void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired); void baroStartCalibration(void);
void baroSetGroundLevel(void);
uint32_t baroUpdate(void); uint32_t baroUpdate(void);
bool isBaroReady(void); bool isBaroReady(void);
int32_t baroCalculateAltitude(void); int32_t baroCalculateAltitude(void);

2
src/main/sensors/sensors.h
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@ -44,8 +44,6 @@ typedef union flightDynamicsTrims_u {
flightDynamicsTrims_def_t values; flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t; } flightDynamicsTrims_t;
#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
typedef enum { typedef enum {
SENSOR_GYRO = 1 << 0, // always present SENSOR_GYRO = 1 << 0, // always present
SENSOR_ACC = 1 << 1, SENSOR_ACC = 1 << 1,

2
src/test/unit/arming_prevention_unittest.cc
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@ -1071,7 +1071,7 @@ extern "C" {
void transponderUpdate(timeUs_t) {} void transponderUpdate(timeUs_t) {}
void GPS_reset_home_position(void) {} void GPS_reset_home_position(void) {}
void accStartCalibration(void) {} void accStartCalibration(void) {}
void baroSetCalibrationCycles(uint16_t) {} void baroSetGroundLevel(void) {}
void changePidProfile(uint8_t) {} void changePidProfile(uint8_t) {}
void changeControlRateProfile(uint8_t) {} void changeControlRateProfile(uint8_t) {}
void dashboardEnablePageCycling(void) {} void dashboardEnablePageCycling(void) {}

2
src/test/unit/rc_controls_unittest.cc
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@ -631,7 +631,7 @@ uint8_t getCurrentControlRateProfileIndex(void) {
return 0; return 0;
} }
void GPS_reset_home_position(void) {} void GPS_reset_home_position(void) {}
void baroSetCalibrationCycles(uint16_t) {} void baroSetGroundLevel(void) {}
void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {} void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {}

2
src/test/unit/vtx_unittest.cc
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@ -165,7 +165,7 @@ extern "C" {
void transponderUpdate(timeUs_t) {} void transponderUpdate(timeUs_t) {}
void GPS_reset_home_position(void) {} void GPS_reset_home_position(void) {}
void accStartCalibration(void) {} void accStartCalibration(void) {}
void baroSetCalibrationCycles(uint16_t) {} void baroSetGroundLevel(void) {}
void changePidProfile(uint8_t) {} void changePidProfile(uint8_t) {}
void changeControlRateProfile(uint8_t) {} void changeControlRateProfile(uint8_t) {}
void dashboardEnablePageCycling(void) {} void dashboardEnablePageCycling(void) {}