| 97,6 → 97,8 |
|---|
| int16_t gyroD[2]; |
| int16_t yawGyro; |
| |
| int32_t groundPressure; |
| |
| /* |
| * Offset values. These are the raw gyro and acc. meter sums when the copter is |
| * standing still. They are used for adjusting the gyro and acc. meter values |
| 172,6 → 174,7 |
|---|
| |
| // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
| int32_t filteredAirPressure; |
| int32_t lastFilteredAirPressure; |
| |
| #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
| int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
| 506,6 → 509,7 |
|---|
| // 2 samples were added. |
| pressureMeasurementCount += 2; |
| if (pressureMeasurementCount >= AIRPRESSURE_OVERSAMPLING) { |
| lastFilteredAirPressure = filteredAirPressure; |
| filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER - 1) |
| + airPressureSum + AIRPRESSURE_FILTER / 2) / AIRPRESSURE_FILTER; |
| pressureMeasurementCount = airPressureSum = 0; |
| 524,7 → 528,6 |
|---|
| // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
| // This is divided by 3 --> 10.34 counts per volt. |
| UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
| debugOut.analog[11] = UBat; |
| } |
| |
| void analog_update(void) { |
| 633,3 → 636,16 |
|---|
| accOffset_writeToEEProm(); |
| startAnalogConversionCycle(); |
| } |
| |
| void analog_setGround() { |
| groundPressure = filteredAirPressure; |
| } |
| |
| int32_t analog_getHeight(void) { |
| return groundPressure - filteredAirPressure; |
| } |
| |
| int16_t analog_getDHeight(void) { |
| // dHeight = -dPressure, so here it is the old pressure minus the current, not opposite. |
| return lastFilteredAirPressure - filteredAirPressure; |
| } |