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Merge pull request #10481 from mikeller/fix_baro_sample_count_setting

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Fixed incorrect parameter value for barometer sample count.
This commit is contained in:
Michael Keller 2021-02-08 16:09:08 +13:00 • committed by GitHub
commit f77b6a59c3
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2 changed files with 9 additions and 11 deletions
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2
src/main/cli/settings.c
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@ -726,7 +726,7 @@ const clivalue_t valueTable[] = {
{ "baro_i2c_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 5 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_device) },
{ "baro_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_i2c_address) },
{ "baro_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BARO_HARDWARE }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_hardware) },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 2, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) },
{ "baro_tab_size", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, BARO_SAMPLE_COUNT_MAX }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_sample_count) },
{ "baro_noise_lpf", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_noise_lpf) },
{ "baro_cf_vel", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_BAROMETER_CONFIG, offsetof(barometerConfig_t, baro_cf_vel) },
#endif

18
src/main/sensors/barometer.c
View file

@ -338,24 +338,22 @@ static int32_t applyBarometerMedianFilter(int32_t newPressureReading)
return newPressureReading;
}
#define PRESSURE_SAMPLE_COUNT (barometerConfig()->baro_sample_count - 1)
static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
static uint32_t recalculateBarometerTotal(uint32_t pressureTotal, int32_t newPressureReading)
{
static int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX];
static int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX + 1];
static int currentSampleIndex = 0;
int nextSampleIndex;
// store current pressure in barometerSamples
nextSampleIndex = (currentSampleIndex + 1);
if (nextSampleIndex == baroSampleCount) {
if (currentSampleIndex >= barometerConfig()->baro_sample_count) {
nextSampleIndex = 0;
baroReady = true;
} else {
nextSampleIndex = (currentSampleIndex + 1);
}
barometerSamples[currentSampleIndex] = applyBarometerMedianFilter(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];
@ -427,7 +425,7 @@ uint32_t baroUpdate(void)
baro.dev.calculate(&baroPressure, &baroTemperature);
baro.baroPressure = baroPressure;
baro.baroTemperature = baroTemperature;
baroPressureSum = recalculateBarometerTotal(barometerConfig()->baro_sample_count, baroPressureSum, baroPressure);
baroPressureSum = recalculateBarometerTotal(baroPressureSum, baroPressure);
if (baro.dev.combined_read) {
state = BAROMETER_NEEDS_PRESSURE_START;
} else {
@ -458,7 +456,7 @@ int32_t baroCalculateAltitude(void)
// calculates height from ground via baro readings
if (baroIsCalibrationComplete()) {
BaroAlt_tmp = lrintf(pressureToAltitude((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT)));
BaroAlt_tmp = lrintf(pressureToAltitude((float)(baroPressureSum / barometerConfig()->baro_sample_count)));
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
}
@ -473,7 +471,7 @@ void performBaroCalibrationCycle(void)
static int32_t savedGroundPressure = 0;
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
baroGroundPressure += baroPressureSum / barometerConfig()->baro_sample_count;
baroGroundAltitude = (1.0f - pow_approx((baroGroundPressure / 8) / 101325.0f, 0.190259f)) * 4433000.0f;
if (baroGroundPressure == savedGroundPressure) {