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[ardrone2][baro] optional median filter on baro

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some crazy values can remain, it seems that they are well filtered using
this median filter
This commit is contained in:
Gautier Hattenberger
2014-03-13 17:46:50 +01:00
parent e138f43b44
commit c10b6b7289
1 changed files with 17 additions and 2 deletions
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sw/airborne/boards/ardrone/baro_board.c
+17 -2
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@@ -31,10 +31,21 @@
#include "baro_board.h"
#include "navdata.h"
/** Use an extra median filter to filter baro data
*/
#if USE_BARO_MEDIAN_FILTER
#include "filters/median_filter.h"
struct MedianFilterInt baro_median;
#endif
#define BMP180_OSS 0 // Parrot ARDrone uses no oversampling
void baro_init(void) {}
void baro_init(void) {
#if USE_BARO_MEDIAN_FILTER
init_median_filter(&baro_median);
#endif
}
void baro_periodic(void) {}
@@ -74,7 +85,11 @@ void ardrone_baro_event(void)
// first read temperature because pressure calibration depends on temperature
// TODO send Temperature message
baro_apply_calibration_temp(navdata.temperature_pressure);
float pressure = (float)baro_apply_calibration(navdata.pressure);
int32_t press_raw = baro_apply_calibration(navdata.pressure);
#if USE_BARO_MEDIAN_FILTER
press_raw = update_median_filter(&baro_median, press_raw);
#endif
float pressure = (float)press_raw;
AbiSendMsgBARO_ABS(BARO_BOARD_SENDER_ID, &pressure);
}
navdata_baro_available = FALSE;