rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

OP-1139: fix wrong sign for bias and some optimizations

Browse Source 
+review OPReview-598
This commit is contained in:
Alessio Morale 2014-01-01 19:13:26 +01:00
parent f95a86eaed
commit bd1442437f
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
flight/modules/Altitude/revolution/altitude.c
View File

@ -163,8 +163,9 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
temp = PIOS_MS5611_GetTemperature();
press = PIOS_MS5611_GetPressure();
float temp2 = temp * temp;
press = press - baroCorrection.a + temp * baroCorrection.b + temp2 * baroCorrection.c + temp * temp2 * baroCorrection.d;
// pressure bias = A + B*t + C*t^2 + D * t^3
press -= baroCorrection.a + ((baroCorrection.d * temp + baroCorrection.c) * temp + baroCorrection.b) * temp;
float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));