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[ardrone] Read zero baro altitude at sealevel

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Christophe De Wagter
2013-08-22 10:35:24 +02:00
parent 846ab96374
commit 0219f9bfa8
1 changed files with 3 additions and 1 deletions
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sw/airborne/boards/ardrone/baro_board.c
+3 -1
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@@ -56,7 +56,9 @@ static inline int32_t baro_apply_calibration(int32_t raw)
x1 = (p >> 8) * (p >> 8); x1 = (p >> 8) * (p >> 8);
x1 = (x1 * 3038UL) >> 16; x1 = (x1 * 3038UL) >> 16;
x2 = (-7357L * p) >> 16; x2 = (-7357L * p) >> 16;
return p + ((x1 + x2 + 3791L) >> 4); int32_t press = p + ((x1 + x2 + 3791L) >> 4);
// Zero at sealevel
return press - 101325;
} }
static inline int32_t baro_apply_calibration_temp(int32_t tmp_raw) static inline int32_t baro_apply_calibration_temp(int32_t tmp_raw)