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[ardrone] 200Hz Baro messages are actually 100Hz temp and then pressure. One should not use the wrong temp with the wrong pressure either. A change tracker is used.

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This commit is contained in:
Christophe De Wagter
2013-08-28 14:28:27 +02:00
parent d9eb74ce07
commit b8ec860edc
1 changed files with 56 additions and 1 deletions
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sw/airborne/boards/ardrone/navdata.c
+56 -1
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@@ -172,6 +172,60 @@ void navdata_read()
}
}
void baro_update_logic(void);
void baro_update_logic(void)
{
static int32_t lastpressval = 0;
static uint16_t lasttempval = 0;
static uint8_t temp_or_press_was_updated_last = 0; // 0 = press, so we now wait for temp, 1 = temp so we now wait for press
static int sync_errors;
if (temp_or_press_was_updated_last == 0) // Last update was press so we are now waiting for temp
{
// temp was updated
temp_or_press_was_updated_last = 1;
// This means that press must remain constant
if (lastpressval != 0)
{
// If pressure was updated: this is a sync error
if (lastpressval != navdata->pressure)
{
// wait for temp again
temp_or_press_was_updated_last = 0;
sync_errors++;
navdata_baro_available = 1;
}
}
}
else
{
// press was updated
temp_or_press_was_updated_last = 0;
// This means that temp must remain constant
if (lasttempval != 0)
{
// If temp was updated: this is a sync error
if (lasttempval != navdata->temperature_pressure)
{
// wait for press again
temp_or_press_was_updated_last = 1;
sync_errors++;
}
}
navdata_baro_available = 1;
}
lastpressval = navdata->pressure;
lasttempval = navdata->temperature_pressure;
// debug
// navdata->temperature_pressure = sync_errors;
}
void navdata_update()
{
navdata_read();
@@ -198,8 +252,9 @@ void navdata_update()
p[0] = p[1];
p[1] = tmp;
baro_update_logic();
navdata_imu_available = 1;
navdata_baro_available = 1;
port->packetsRead++;
// printf("CCRC=%d, GCRC=%d, error=%d\n", crc, navdata->chksum, abs(crc-navdata->chksum));