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Code Issues Releases Activity

OP-1658 - Fix ms5611 units

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This commit is contained in:
Alessio Morale 2015-02-20 05:47:31 +01:00
parent 3f05aa0e11
commit 0cd545f5e4
2 changed files with 5 additions and 4 deletions
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5
flight/modules/Sensors/sensors.c
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@ -517,12 +517,12 @@ static void updateGyroTempBias(float temperature)
static void updateBaroTempBias(float temperature) static void updateBaroTempBias(float temperature)
{ {
baro_temperature = temp_alpha_baro * (temperature - baro_temperature) + baro_temperature;
baro_temp_calibration_count--;
if (isnan(baro_temperature)) { if (isnan(baro_temperature)) {
baro_temperature = temperature; baro_temperature = temperature;
} }
baro_temperature = temp_alpha_baro * (temperature - baro_temperature) + baro_temperature;
if (baro_temp_correction_enabled && !baro_temp_calibration_count) { if (baro_temp_correction_enabled && !baro_temp_calibration_count) {
baro_temp_calibration_count = BARO_TEMP_CALIB_INTERVAL; baro_temp_calibration_count = BARO_TEMP_CALIB_INTERVAL;
// pressure bias = A + B*t + C*t^2 + D * t^3 // pressure bias = A + B*t + C*t^2 + D * t^3
@ -530,6 +530,7 @@ static void updateBaroTempBias(float temperature)
float ctemp = boundf(baro_temperature, baroCorrectionExtent.max, baroCorrectionExtent.min); float ctemp = boundf(baro_temperature, baroCorrectionExtent.max, baroCorrectionExtent.min);
baro_temp_bias = baroCorrection.a + ((baroCorrection.d * ctemp + baroCorrection.c) * ctemp + baroCorrection.b) * ctemp; baro_temp_bias = baroCorrection.a + ((baroCorrection.d * ctemp + baroCorrection.c) * ctemp + baroCorrection.b) * ctemp;
} }
baro_temp_calibration_count--;
} }
/** /**
* Locally cache some variables from the AtttitudeSettings object * Locally cache some variables from the AtttitudeSettings object

4
flight/pios/common/pios_ms5611.c
View File

@ -306,11 +306,11 @@ static float PIOS_MS5611_GetTemperature(void)
} }
/** /**
* Return the most recently computed pressure in kPa * Return the most recently computed pressure in Pa
*/ */
static float PIOS_MS5611_GetPressure(void) static float PIOS_MS5611_GetPressure(void)
{ {
return ((float)Pressure) / 1000.0f; return (float)Pressure;
} }
/** /**