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Code Issues Releases Activity

2251 rev changes reverted. Let someone change UAVObjects to provide calibrated altitude and/or offset to HomeLocation and/or take off location (which can be quite different including elevation). But please do not forget that many of users do not have the GCS with Internet at field and/or do not have sufficient weather/baro/altitude condition info for their country. So the solution should provide also a way to 'drive-power-launch'.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2259 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
osnwt 2010-12-20 05:20:06 +00:00 committed by osnwt
parent 39d0b2e4a7
commit 801568269c
1 changed files with 1 additions and 10 deletions
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11
flight/OpenPilot/Modules/Altitude/altitude.c
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@ -69,10 +69,6 @@ int32_t AltitudeInitialize()
*/ */
static void altitudeTask(void *parameters) static void altitudeTask(void *parameters)
{ {
// For power-up zero height pressure calibration
static float p0 = BMP085_P0 / 1000.0;
static uint32_t i = 15;
BaroAltitudeData data; BaroAltitudeData data;
portTickType lastSysTime; portTickType lastSysTime;
@ -97,13 +93,8 @@ static void altitudeTask(void *parameters)
// Convert from Pa to kPa // Convert from Pa to kPa
data.Pressure = PIOS_BMP085_GetPressure() / 1000.0; data.Pressure = PIOS_BMP085_GetPressure() / 1000.0;
// Save zero height pressure as p0
if (i && (--i == 0)) {
p0 = data.Pressure;
}
// Compute the current altitude (all pressures in kPa) // Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / p0), (1.0 / 5.255))); data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject // Update the AltitudeActual UAVObject
BaroAltitudeSet(&data); BaroAltitudeSet(&data);