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https://github.com/betaflight/betaflight.git
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b2241b32c3
convert pressure to altitude early remove median filter PT2 filtering upsampled to altitude function in position.c - thanks KarateBrot baro task synced to position task - thanks Steve PT2 implementation - thanks KarateBrot ground altitude from filtered altitude baro cali by average of calibration samples over cal period adjust vario and smoothing defaults don't say haveBaroAlt until cal is complete reduce PIDs since Baro is faster add baro smoothing values to blackbox header Co-Authored-By: Jan Post <post@stud.tu-darmstadt.de> Co-Authored-By: Steve Evans <SteveCEvans@users.noreply.github.com>
40 lines
1.2 KiB
C
40 lines
1.2 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "common/time.h"
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#define TASK_ALTITUDE_RATE_HZ 120
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#define POSITION_DEFAULT_ALT_NUM_SATS_GPS_USE 10
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#define POSITION_DEFAULT_ALT_NUM_SATS_BARO_FALLBACK 7
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typedef struct positionConfig_s {
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uint8_t altSource;
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uint8_t altNumSatsGpsUse;
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uint8_t altNumSatsBaroFallback;
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} positionConfig_t;
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PG_DECLARE(positionConfig_t, positionConfig);
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bool isAltitudeOffset(void);
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void calculateEstimatedAltitude();
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int32_t getEstimatedAltitudeCm(void);
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int16_t getEstimatedVario(void);
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