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e2550ee5e1
This also cleans the code - No magic numbers, clearly defines states, config variables grouped together, avoiding some global variable use.
27 lines
1 KiB
C
27 lines
1 KiB
C
#pragma once
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#define BARO_SAMPLE_COUNT_MAX 48
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typedef struct barometerConfig_s {
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uint8_t baro_sample_count; // size of baro filter array
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float baro_noise_lpf; // additional LPF to reduce baro noise
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float baro_cf_vel; // apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity)
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float baro_cf_alt; // apply CF to use ACC for height estimation
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} barometerConfig_t;
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typedef enum {
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BAROMETER_ACTION_NOT_READY = 0,
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BAROMETER_ACTION_OBTAINED_SAMPLES,
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BAROMETER_ACTION_PERFORMED_CALCULATION
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} barometerAction_e;
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extern int32_t BaroAlt;
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#ifdef BARO
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void useBarometerConfig(barometerConfig_t *barometerConfigToUse);
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bool isBaroCalibrationComplete(void);
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void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
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barometerAction_e baroUpdate(uint32_t currentTime);
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int32_t baroCalculateAltitude(void);
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void performBaroCalibrationCycle(void);
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#endif
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