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Code Issues Releases Activity

OP-1139: export corrected pressure value to uavobject

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This commit is contained in:
Alessio Morale 2013-12-10 02:02:30 +01:00
parent 634ba79dcb
commit 44269b6762
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Altitude/revolution/altitude.c
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@ -164,9 +164,9 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
temp = PIOS_MS5611_GetTemperature(); temp = PIOS_MS5611_GetTemperature();
press = PIOS_MS5611_GetPressure(); press = PIOS_MS5611_GetPressure();
float temp2 = temp * temp; float temp2 = temp * temp;
float correction = baroCorrection.a + temp * baroCorrection.b + temp2 * baroCorrection.c + temp * temp2 * baroCorrection.d; press = press - baroCorrection.a + temp * baroCorrection.b + temp2 * baroCorrection.c + temp * temp2 * baroCorrection.d;
float altitude = 44330.0f * (1.0f - powf((press - correction) / MS5611_P0, (1.0f / 5.255f))); float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
if (!isnan(altitude)) { if (!isnan(altitude)) {
data.Altitude = altitude; data.Altitude = altitude;