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OP-1139: fix wrong sign for bias and some optimizations
+review OPReview-598
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@ -163,8 +163,9 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
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temp = PIOS_MS5611_GetTemperature();
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temp = PIOS_MS5611_GetTemperature();
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press = PIOS_MS5611_GetPressure();
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press = PIOS_MS5611_GetPressure();
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float temp2 = temp * temp;
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press = press - baroCorrection.a + temp * baroCorrection.b + temp2 * baroCorrection.c + temp * temp2 * baroCorrection.d;
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// pressure bias = A + B*t + C*t^2 + D * t^3
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press -= baroCorrection.a + ((baroCorrection.d * temp + baroCorrection.c) * temp + baroCorrection.b) * temp;
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float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
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float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
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