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Code Issues Wiki Activity

Merge pull request #1186 from iNavFlight/raw-baro-sensor-reporting

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Report raw BARO via MSP_ALTITUDE message
This commit is contained in:
Martin Budden 2017-01-29 21:01:52 +00:00 • committed by GitHub
commit 6d36311714
3 changed files with 13 additions and 2 deletions
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9
src/main/fc/fc_msp.c
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@ -644,11 +644,16 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_ALTITUDE:
#if defined(NAV)
sbufWriteU32(dst, (uint32_t)lrintf(getEstimatedActualPosition(Z)));
sbufWriteU16(dst, (uint32_t)lrintf(getEstimatedActualVelocity(Z)));
sbufWriteU32(dst, lrintf(getEstimatedActualPosition(Z)));
sbufWriteU16(dst, lrintf(getEstimatedActualVelocity(Z)));
#else
sbufWriteU32(dst, 0);
sbufWriteU16(dst, 0);
#endif
#if defined(BARO)
sbufWriteU32(dst, baroGetLatestAltitude());
#else
sbufWriteU32(dst, 0);
#endif
break;

5
src/main/sensors/barometer.c
View file

@ -269,6 +269,11 @@ int32_t baroCalculateAltitude(void)
return baro.BaroAlt;
}
int32_t baroGetLatestAltitude(void)
{
return baro.BaroAlt;
}
bool baroIsHealthy(void)
{
return true;

1
src/main/sensors/barometer.h
View file

@ -52,4 +52,5 @@ void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
uint32_t baroUpdate(void);
bool baroIsReady(void);
int32_t baroCalculateAltitude(void);
int32_t baroGetLatestAltitude(void);
bool baroIsHealthy(void);