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[ardrone2] Fix baro measurement spikes

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Freek van Tienen
2014-02-27 22:45:13 +01:00
committed by Felix Ruess
parent 6a50e314bb
commit a45d955a69
1 changed files with 16 additions and 4 deletions
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sw/airborne/boards/ardrone/navdata.c
+16 -4
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@@ -292,7 +292,6 @@ static void baro_update_logic(void)
// wait for temp again
temp_or_press_was_updated_last = FALSE;
sync_errors++;
navdata_baro_available = TRUE;
printf("Baro-Logic-Error (expected updated temp, got press)\n");
}
}
@@ -314,13 +313,25 @@ static void baro_update_logic(void)
printf("Baro-Logic-Error (expected updated press, got temp)\n");
}
else {
// We now got valid pressure and temperature
navdata_baro_available = TRUE;
}
}
navdata_baro_available = TRUE;
}
lastpressval = navdata.pressure;
// Detected a pressure switch
if(lastpressval != 0 && lasttempval != 0 && ABS(lastpressval - navdata.pressure) > ABS(lasttempval - navdata.pressure)) {
navdata_baro_available = FALSE;
}
// Detected a temprature switch
if(lastpressval != 0 && lasttempval != 0 && ABS(lasttempval - navdata.temperature_pressure) > ABS(lastpressval - navdata.temperature_pressure)) {
navdata_baro_available = FALSE;
}
lasttempval = navdata.temperature_pressure;
lastpressval = navdata.pressure;
/*
* It turns out that a lot of navdata boards have a problem (probably interrupt related)
@@ -389,6 +400,7 @@ static void baro_update_logic(void)
lasttempval_nospike = navdata.temperature_pressure;
}
// printf("%d %d %d\r\n", navdata.temperature_pressure, navdata.pressure, spike_detected);
// printf(",%d,%d",spike_detected,spikes);
}