From 76971a807cbb73914c9686cbebbf8d519bed84a0 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sun, 12 Sep 2010 22:18:18 +0000
Subject: [PATCH] AHRS: Some more tweaking of the timings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1603 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c       | 3 ++-
 flight/AHRS/inc/insgps.h | 1 +
 flight/AHRS/insgps.c     | 5 +++++
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index 63275aa66..7db022498 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -69,7 +69,7 @@ void DMA1_Channel1_IRQHandler() __attribute__ ((alias ("AHRS_ADC_DMA_Handler")))
  * @{
  */
 // Currently analog acquistion hard coded at 480 Hz
-#define ADC_OVERSAMPLE          40
+#define ADC_OVERSAMPLE          48
 #define EKF_RATE                ((float) 4*480 / ADC_OVERSAMPLE)
 #define ADC_CONTINUOUS_CHANNELS PIOS_ADC_NUM_PINS
 #define CORRECTION_COUNT        4
@@ -388,6 +388,7 @@ int main()
 				vel[1] = 0;
 				vel[2] = 0;
 				VelBaroCorrection(vel,altitude_data.altitude);                            				
+//                MagVelBaroCorrection(mag,vel,altitude_data.altitude);  // only trust mags if outdoors
 			}
             
             attitude_data.quaternion.q1 = Nav.q[0];
diff --git a/flight/AHRS/inc/insgps.h b/flight/AHRS/inc/insgps.h
index b41e87645..22f6d38a6 100644
--- a/flight/AHRS/inc/insgps.h
+++ b/flight/AHRS/inc/insgps.h
@@ -59,6 +59,7 @@ void INSSetMagNorth(float B[3]);
 void INSSetMagVar(float scaled_mag_var[3]);
 
 void MagCorrection(float mag_data[3]);
+void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
 void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt);
 void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
 void VelBaroCorrection(float Vel[3], float BaroAlt);
diff --git a/flight/AHRS/insgps.c b/flight/AHRS/insgps.c
index d592315d8..6e716e570 100644
--- a/flight/AHRS/insgps.c
+++ b/flight/AHRS/insgps.c
@@ -173,6 +173,11 @@ void MagCorrection(float mag_data[3])
     INSCorrection(mag_data, zeros, zeros, zeros[0], MAG_SENSORS);
 }
 
+void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt)
+{
+    INSCorrection(mag_data, zeros, Vel, BaroAlt, MAG_SENSORS | HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
+}
+
 void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt)
 {
     INSCorrection(mag_data, Pos, Vel, BaroAlt, FULL_SENSORS);