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Some baro cleanups to avoid using or exposing incomplete and

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uninitialised baro data.

imu code size reduction (treym)
This commit is contained in:
Dominic Clifton 2014-06-24 00:14:30 +01:00
parent 2413130c0f
commit f127847bf2
4 changed files with 43 additions and 35 deletions
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35
src/main/sensors/barometer.c
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@ -55,6 +55,10 @@ void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
calibratingB = calibrationCyclesRequired;
}
static bool baroReady = false;
#define PRESSURE_SAMPLE_COUNT (barometerConfig->baro_sample_count - 1)
static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
{
static int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX];
@ -65,10 +69,12 @@ static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pres
nextSampleIndex = (currentSampleIndex + 1);
if (nextSampleIndex == baroSampleCount) {
nextSampleIndex = 0;
baroReady = true;
}
barometerSamples[currentSampleIndex] = newPressureReading;
// recalculate pressure total
// Note, the pressure total is made up of baroSampleCount - 1 samples - See PRESSURE_SAMPLE_COUNT
pressureTotal += barometerSamples[currentSampleIndex];
pressureTotal -= barometerSamples[nextSampleIndex];
@ -79,10 +85,10 @@ static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pres
typedef enum {
BAROMETER_NEEDS_SAMPLES = 0,
BAROMETER_NEEDS_CALCULATION
BAROMETER_NEEDS_CALCULATION,
BAROMETER_NEEDS_PROCESSING
} barometerState_e;
static bool baroReady = false;
bool isBaroReady(void) {
return baroReady;
@ -99,22 +105,25 @@ void baroUpdate(uint32_t currentTime)
baroDeadline = currentTime;
switch (state) {
case BAROMETER_NEEDS_SAMPLES:
baro.get_ut();
baro.start_up();
state = BAROMETER_NEEDS_CALCULATION;
baroDeadline += baro.up_delay;
break;
case BAROMETER_NEEDS_CALCULATION:
baro.get_up();
baro.start_ut();
baroDeadline += baro.ut_delay;
baro.calculate(&baroPressure, &baroTemperature);
baroReady = true;
state = BAROMETER_NEEDS_SAMPLES;
break;
state = BAROMETER_NEEDS_PROCESSING;
break;
case BAROMETER_NEEDS_SAMPLES:
baro.get_ut();
baro.start_up();
case BAROMETER_NEEDS_PROCESSING:
state = BAROMETER_NEEDS_SAMPLES;
baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
state = BAROMETER_NEEDS_CALCULATION;
baroDeadline += baro.up_delay;
break;
break;
}
}
@ -124,7 +133,7 @@ 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
BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / (barometerConfig->baro_sample_count - 1)) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
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
@ -134,7 +143,7 @@ int32_t baroCalculateAltitude(void)
void performBaroCalibrationCycle(void)
{
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / (barometerConfig->baro_sample_count - 1);
baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
calibratingB--;