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Code Issues Releases Activity

do not calibrate if there is a pre-stored calibration value

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This commit is contained in:
Corvus Corax 2012-11-05 10:41:24 +01:00
parent 774dde3da5
commit 5bf18780c1
1 changed files with 15 additions and 12 deletions
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27
flight/Modules/Airspeed/revolution/baro_airspeed_etasv3.c
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@ -77,19 +77,22 @@ void baro_airspeedGetETASV3(BaroAirspeedData *baroAirspeedData, portTickType *la
return;
}
//Calibrate sensor by averaging zero point value //THIS SHOULD NOT BE DONE IF THERE IS AN IN-AIR RESET. HOW TO DETECT THIS?
if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_ETASV3) {
calibrationCount++;
return;
} else if (calibrationCount < (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
calibrationCount++;
calibrationSum += baroAirspeedData->SensorValue;
if (calibrationCount == (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
airspeedSettingsData.ZeroPoint = (int16_t) (((float)calibrationSum) / CALIBRATION_COUNT_MS +0.5f);
AirspeedSettingsZeroPointSet( &airspeedSettingsData.ZeroPoint );
} else {
// only calibrate if no stored calibration is available
if (!airspeedSettingsData.ZeroPoint) {
//Calibrate sensor by averaging zero point value
if (calibrationCount < CALIBRATION_IDLE_MS/SAMPLING_DELAY_MS_ETASV3) {
calibrationCount++;
return;
} else if (calibrationCount < (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
calibrationCount++;
calibrationSum += baroAirspeedData->SensorValue;
if (calibrationCount == (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS)/SAMPLING_DELAY_MS_ETASV3) {
airspeedSettingsData.ZeroPoint = (int16_t) (((float)calibrationSum) / CALIBRATION_COUNT_MS +0.5f);
AirspeedSettingsZeroPointSet( &airspeedSettingsData.ZeroPoint );
} else {
return;
}
}
}