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Code Issues Wiki Activity

Split config_storage.h into config_master.h and config_profile.h to

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separate concerns and help reduce and clarify dependencies.

cfg and mcfg are too similarly named and are not obvious.  Renamed cfg
to currentProfile and mcfg to masterConfig.  This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
This commit is contained in:
Dominic Clifton 2014-04-21 23:08:25 +01:00
parent dab04de35e
commit f8d0dd98f7
18 changed files with 677 additions and 672 deletions
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8
src/sensors_barometer.c
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@ -16,7 +16,7 @@ void Baro_Common(void)
int indexplus1;
indexplus1 = (baroHistIdx + 1);
if (indexplus1 == cfg.baro_tab_size)
if (indexplus1 == currentProfile.baro_tab_size)
indexplus1 = 0;
baroHistTab[baroHistIdx] = baroPressure;
baroPressureSum += baroHistTab[baroHistIdx];
@ -58,9 +58,9 @@ int32_t Baro_calculateAltitude(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 / (cfg.baro_tab_size - 1)) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / (currentProfile.baro_tab_size - 1)) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
BaroAlt = lrintf((float)BaroAlt * cfg.baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - cfg.baro_noise_lpf)); // additional LPF to reduce baro noise
BaroAlt = lrintf((float)BaroAlt * currentProfile.baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - currentProfile.baro_noise_lpf)); // additional LPF to reduce baro noise
return BaroAlt;
}
@ -68,7 +68,7 @@ int32_t Baro_calculateAltitude(void)
void performBaroCalibrationCycle(void)
{
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / (cfg.baro_tab_size - 1);
baroGroundPressure += baroPressureSum / (currentProfile.baro_tab_size - 1);
baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
calibratingB--;