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fixes

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This commit is contained in:
breadoven 2024-09-24 12:14:50 +01:00 • committed by Ray Morris
parent c42715490c
commit 5d423b80f3
1 changed files with 7 additions and 7 deletions
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14
src/main/sensors/barometer.c
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@ -325,6 +325,10 @@ float processBaroTempCorrection(void)
static int16_t baroTemp1 = 0.0f;
static timeMs_t startTimeMs = 0;
if (calibrationState == BARO_TEMP_CAL_COMPLETE) {
return correctionFactor * CENTIDEGREES_TO_DEGREES(baroTemp1 - baro.baroTemperature);
}
if (!ARMING_FLAG(WAS_EVER_ARMED)) {
static float baroAlt1 = 0.0f;
static int16_t baroTemp2 = 0.0f;
@ -338,10 +342,10 @@ float processBaroTempCorrection(void)
}
if (setting == 51.0f) { // Auto calibration triggered with setting = 51
/* Min 1 deg temp difference required.
/* Min 3 deg reference temperature difference required for valid calibration.
* Correction adjusted only if temperature difference to reference temperature increasing */
float referenceDeltaTemp = ABS(baro.baroTemperature - baroTemp1);
if (referenceDeltaTemp > 100 && referenceDeltaTemp > ABS(baroTemp2 - baroTemp1)) {
if (referenceDeltaTemp > 300 && referenceDeltaTemp > ABS(baroTemp2 - baroTemp1)) {
baroTemp2 = baro.baroTemperature;
correctionFactor = 0.8f * correctionFactor + 0.2f * (newBaroAlt - baroAlt1) / CENTIDEGREES_TO_DEGREES(baroTemp2 - baroTemp1);
correctionFactor = constrainf(correctionFactor, -50.0f, 50.0f);
@ -357,14 +361,10 @@ float processBaroTempCorrection(void)
barometerConfigMutable()->baro_temp_correction = correctionFactor;
calibrationState = BARO_TEMP_CAL_COMPLETE;
if (!ARMING_FLAG(WAS_EVER_ARMED)) {
beeper(correctionFactor != 51.0f ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
beeper(correctionFactor ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
}
}
if (calibrationState == BARO_TEMP_CAL_COMPLETE) {
return correctionFactor * CENTIDEGREES_TO_DEGREES(baroTemp1 - baro.baroTemperature);
}
return 0.0f;
}