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Rev 1646 | Rev 1775 | ||
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Line 111... | Line 111... | ||
111 | volatile uint8_t GYROS_ATT_FILTER; |
111 | volatile uint8_t GYROS_ATT_FILTER; |
112 | volatile uint8_t GYROS_D_FILTER; |
112 | volatile uint8_t GYROS_D_FILTER; |
113 | volatile uint8_t ACC_FILTER; |
113 | volatile uint8_t ACC_FILTER; |
Line 114... | Line 114... | ||
114 | 114 | ||
115 | /* |
115 | /* |
116 | * Air pressure measurement. |
116 | * Air pressure |
117 | */ |
117 | */ |
- | 118 | volatile uint8_t rangewidth = 106; |
|
118 | #define MIN_RAWPRESSURE 200 |
119 | |
119 | #define MAX_RAWPRESSURE (1023-MIN_RAWPRESSURE) |
120 | // Direct from sensor, irrespective of range. |
- | 121 | // volatile uint16_t rawAirPressure; |
|
- | 122 | ||
120 | volatile uint8_t rangewidth = 53; |
123 | // Value of 2 samples, with range. |
- | 124 | volatile uint16_t simpleAirPressure; |
|
- | 125 | ||
121 | volatile uint16_t rawAirPressure; |
126 | // Value of AIRPRESSURE_SUMMATION_FACTOR samples, with range, filtered. |
- | 127 | volatile int32_t filteredAirPressure; |
|
- | 128 | ||
- | 129 | // Partial sum of AIRPRESSURE_SUMMATION_FACTOR samples. |
|
- | 130 | volatile int32_t airPressureSum; |
|
- | 131 | ||
- | 132 | // The number of samples summed into airPressureSum so far. |
|
Line 122... | Line 133... | ||
122 | volatile uint16_t filteredAirPressure; |
133 | volatile uint8_t pressureMeasurementCount; |
123 | 134 | ||
124 | /* |
135 | /* |
125 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
136 | * Battery voltage, in units of: 1k/11k / 3V * 1024 = 31.03 per volt. |
Line 167... | Line 178... | ||
167 | AD_GYRO_ROLL, |
178 | AD_GYRO_ROLL, |
168 | AD_GYRO_YAW, |
179 | AD_GYRO_YAW, |
Line 169... | Line 180... | ||
169 | 180 | ||
170 | AD_ACC_PITCH, |
181 | AD_ACC_PITCH, |
171 | AD_ACC_ROLL, |
182 | AD_ACC_ROLL, |
Line 172... | Line 183... | ||
172 | // AD_AIRPRESSURE, |
183 | AD_AIRPRESSURE, |
173 | 184 | ||
174 | AD_GYRO_PITCH, |
185 | AD_GYRO_PITCH, |
Line 175... | Line 186... | ||
175 | AD_GYRO_ROLL, |
186 | AD_GYRO_ROLL, |
176 | AD_ACC_Z, // at 7, measure Z acc. |
187 | AD_ACC_Z, // at 8, measure Z acc. |
177 | 188 | ||
Line 178... | Line 189... | ||
178 | AD_GYRO_PITCH, |
189 | AD_GYRO_PITCH, |
179 | AD_GYRO_ROLL, |
190 | AD_GYRO_ROLL, |
180 | AD_GYRO_YAW, // at 10, finish yaw gyro |
191 | AD_GYRO_YAW, // at 11, finish yaw gyro |
181 | 192 | ||
182 | AD_ACC_PITCH, // at 11, finish pitch axis acc. |
193 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
183 | AD_ACC_ROLL, // at 12, finish roll axis acc. |
194 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
184 | AD_AIRPRESSURE, // at 13, finish air pressure. |
195 | AD_AIRPRESSURE, // at 14, finish air pressure. |
185 | 196 | ||
Line 186... | Line 197... | ||
186 | AD_GYRO_PITCH, // at 14, finish pitch gyro |
197 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
187 | AD_GYRO_ROLL, // at 15, finish roll gyro |
198 | AD_GYRO_ROLL, // at 16, finish roll gyro |
Line 228... | Line 239... | ||
228 | } else { |
239 | } else { |
229 | *noiseMeasurement = 0; |
240 | *noiseMeasurement = 0; |
230 | } |
241 | } |
231 | } |
242 | } |
Line 232... | Line 243... | ||
232 | 243 | ||
233 | uint16_t getAbsPressure(int advalue) { |
244 | uint16_t getSimplePressure(int advalue) { |
234 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
245 | return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue; |
Line 235... | Line -... | ||
235 | } |
- | |
236 | - | ||
237 | uint16_t filterAirPressure(uint16_t rawpressure) { |
- | |
238 | return rawpressure; |
- | |
239 | } |
246 | } |
240 | 247 | ||
241 | /***************************************************** |
248 | /***************************************************** |
242 | * Interrupt Service Routine for ADC |
249 | * Interrupt Service Routine for ADC |
243 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
250 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
244 | * processed the interrupt is disabled and further |
251 | * processed the interrupt is disabled and further |
245 | * AD conversions are stopped. |
252 | * AD conversions are stopped. |
246 | *****************************************************/ |
253 | *****************************************************/ |
247 | ISR(ADC_vect) { |
254 | ISR(ADC_vect) { |
248 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
255 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
- | 256 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
|
249 | static uint16_t sensorInputs[8] = {0,0,0,0,0,0,0,0}; |
257 | static uint16_t pressureAutorangingWait = 25; |
250 | static uint8_t pressure_wait = 10; |
258 | uint16_t rawAirPressure; |
Line 251... | Line 259... | ||
251 | uint8_t i, axis; |
259 | uint8_t i, axis; |
252 | int16_t range; |
260 | int16_t newrange; |
Line 253... | Line 261... | ||
253 | 261 | ||
Line 259... | Line 267... | ||
259 | /* |
267 | /* |
260 | * Actually we don't need this "switch". We could do all the sampling into the |
268 | * Actually we don't need this "switch". We could do all the sampling into the |
261 | * sensorInputs array first, and all the processing after the last sample. |
269 | * sensorInputs array first, and all the processing after the last sample. |
262 | */ |
270 | */ |
263 | switch(state++) { |
271 | switch(state++) { |
- | 272 | ||
264 | case 7: // Z acc |
273 | case 8: // Z acc |
265 | if (ACC_REVERSED[Z]) |
274 | if (ACC_REVERSED[Z]) |
266 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
275 | acc[Z] = accOffset[Z] - sensorInputs[AD_ACC_Z]; |
267 | else |
276 | else |
268 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
277 | acc[Z] = sensorInputs[AD_ACC_Z] - accOffset[Z]; |
269 | break; |
278 | break; |
Line 270... | Line 279... | ||
270 | 279 | ||
271 | case 10: // yaw gyro |
280 | case 11: // yaw gyro |
272 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
281 | rawGyroSum[YAW] = sensorInputs[AD_GYRO_YAW]; |
273 | if (GYRO_REVERSED[YAW]) |
282 | if (GYRO_REVERSED[YAW]) |
274 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
283 | yawGyro = gyroOffset[YAW] - sensorInputs[AD_GYRO_YAW]; |
275 | else |
284 | else |
276 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
285 | yawGyro = sensorInputs[AD_GYRO_YAW] - gyroOffset[YAW]; |
Line 277... | Line 286... | ||
277 | break; |
286 | break; |
278 | 287 | ||
279 | case 11: // pitch axis acc. |
288 | case 12: // pitch axis acc. |
280 | if (ACC_REVERSED[PITCH]) |
289 | if (ACC_REVERSED[PITCH]) |
281 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
290 | acc[PITCH] = accOffset[PITCH] - sensorInputs[AD_ACC_PITCH]; |
Line 282... | Line 291... | ||
282 | else |
291 | else |
283 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
292 | acc[PITCH] = sensorInputs[AD_ACC_PITCH] - accOffset[PITCH]; |
284 | 293 | ||
Line 285... | Line 294... | ||
285 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
294 | filteredAcc[PITCH] = (filteredAcc[PITCH] * (ACC_FILTER-1) + acc[PITCH]) / ACC_FILTER; |
286 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
295 | measureNoise(acc[PITCH], &accNoisePeak[PITCH], 1); |
287 | break; |
296 | break; |
288 | 297 | ||
289 | case 12: // roll axis acc. |
298 | case 13: // roll axis acc. |
290 | if (ACC_REVERSED[ROLL]) |
299 | if (ACC_REVERSED[ROLL]) |
291 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
300 | acc[ROLL] = accOffset[ROLL] - sensorInputs[AD_ACC_ROLL]; |
292 | else |
301 | else |
Line 293... | Line 302... | ||
293 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
302 | acc[ROLL] = sensorInputs[AD_ACC_ROLL] - accOffset[ROLL]; |
294 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
303 | filteredAcc[ROLL] = (filteredAcc[ROLL] * (ACC_FILTER-1) + acc[ROLL]) / ACC_FILTER; |
295 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
304 | measureNoise(acc[ROLL], &accNoisePeak[ROLL], 1); |
296 | break; |
305 | break; |
297 | 306 | ||
298 | case 13: // air pressure |
307 | case 14: // air pressure |
299 | if (pressure_wait) { |
- | |
300 | // A range switch was done recently. Wait for steadying. |
308 | if (pressureAutorangingWait) { |
301 | pressure_wait--; |
309 | //A range switch was done recently. Wait for steadying. |
302 | break; |
310 | pressureAutorangingWait--; |
303 | } |
311 | break; |
304 | range = OCR0A; |
312 | } |
305 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
313 | rawAirPressure = sensorInputs[AD_AIRPRESSURE]; |
306 | if (rawAirPressure < MIN_RAWPRESSURE) { |
314 | if (rawAirPressure < MIN_RAWPRESSURE) { |
- | 315 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
|
- | 316 | newrange = OCR0A - (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
|
- | 317 | if (newrange > MIN_RANGES_EXTRAPOLATION) { |
|
- | 318 | pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; |
|
- | 319 | OCR0A = newrange; |
|
- | 320 | } else { |
|
307 | // value is too low, so decrease voltage on the op amp minus input, making the value higher. |
321 | if (OCR0A) { |
308 | range -= (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1; |
322 | OCR0A--; |
- | 323 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
309 | if (range < 0) range = 0; |
324 | } |
310 | pressure_wait = (OCR0A - range) * 4; |
325 | } |
311 | OCR0A = range; |
326 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
312 | } else if (rawAirPressure > MAX_RAWPRESSURE) { |
327 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
- | 328 | // If near the end, make a limited increase |
|
- | 329 | newrange = OCR0A + (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
|
- | 330 | if (newrange < MAX_RANGES_EXTRAPOLATION) { |
|
- | 331 | pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR; |
|
- | 332 | OCR0A = newrange; |
|
- | 333 | } else { |
|
- | 334 | if (OCR0A<254) { |
|
- | 335 | OCR0A++; |
|
- | 336 | pressureAutorangingWait = AUTORANGE_WAIT_FACTOR; |
|
- | 337 | } |
|
- | 338 | } |
|
- | 339 | } |
|
- | 340 | ||
- | 341 | // Even if the sample is off-range, use it. |
|
- | 342 | simpleAirPressure = getSimplePressure(rawAirPressure); |
|
- | 343 | if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) { |
|
- | 344 | // Danger: pressure near lower end of range. If the measurement saturates, the |
|
- | 345 | // copter may climb uncontrolled... Simulate a drastic reduction in pressure. |
|
313 | // value is too high, so increase voltage on the op amp minus input, making the value lower. |
346 | airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
- | 347 | } else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) { |
|
314 | range += (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1; |
348 | // Danger: pressure near upper end of range. If the measurement saturates, the |
315 | if (range > 254) range = 254; |
349 | // copter may fall uncontrolled... Simulate a drastic increase in pressure. |
Line -... | Line 350... | ||
- | 350 | airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF; |
|
- | 351 | } else { |
|
- | 352 | // normal case. |
|
- | 353 | airPressureSum += simpleAirPressure; |
|
- | 354 | } |
|
- | 355 | ||
- | 356 | // 2 samples were added. |
|
316 | pressure_wait = (range - OCR0A) * 4; |
357 | pressureMeasurementCount += 2; |
317 | OCR0A = range; |
358 | if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR) { |
318 | } else { |
359 | filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER; |
- | 360 | pressureMeasurementCount = airPressureSum = 0; |
|
319 | filteredAirPressure = filterAirPressure(getAbsPressure(rawAirPressure)); |
361 | } |
Line 320... | Line 362... | ||
320 | } |
362 | |
321 | 363 | // DebugOut.Analog[14] = OCR0A; |
|
322 | DebugOut.Analog[13] = range; |
364 | // DebugOut.Analog[15] = simpleAirPressure; |
323 | DebugOut.Analog[14] = rawAirPressure; |
365 | DebugOut.Analog[11] = UBat; |
324 | DebugOut.Analog[15] = filteredAirPressure; |
366 | DebugOut.Analog[27] = acc[Z]; |
325 | break; |
367 | break; |
326 | 368 | ||
327 | case 14: |
369 | case 15: |
Line 377... | Line 419... | ||
377 | 419 | ||
378 | // 2) Filter. |
420 | // 2) Filter. |
379 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
421 | gyro_ATT[axis] = (gyro_ATT[axis] * (GYROS_ATT_FILTER-1) + tempOffsetGyro) / GYROS_ATT_FILTER; |
Line 380... | Line 422... | ||
380 | break; |
422 | break; |
- | 423 | ||
381 | 424 | case 17: |
|
382 | case 16: |
425 | // Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v). |
383 | // battery |
426 | // This is divided by 3 --> 10.34 counts per volt. |
384 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
427 | UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4; |
385 | analogDataReady = 1; // mark |
428 | analogDataReady = 1; // mark |
386 | ADCycleCount++; |
429 | ADCycleCount++; |
Line 405... | Line 448... | ||
405 | 448 | ||
406 | void analog_calibrate(void) { |
449 | void analog_calibrate(void) { |
407 | #define GYRO_OFFSET_CYCLES 32 |
450 | #define GYRO_OFFSET_CYCLES 32 |
408 | uint8_t i, axis; |
451 | uint8_t i, axis; |
409 | int32_t deltaOffsets[3] = {0,0,0}; |
- | |
Line 410... | Line 452... | ||
410 | int16_t filteredDelta; |
452 | int32_t deltaOffsets[3] = {0,0,0}; |
411 | 453 | ||
412 | // Set the filters... to be removed again, once some good settings are found. |
454 | // Set the filters... to be removed again, once some good settings are found. |
413 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
455 | GYROS_PID_FILTER = (dynamicParams.UserParams[4] & 0b00000011) + 1; |
Line 417... | Line 459... | ||
417 | 459 | ||
Line 418... | Line 460... | ||
418 | gyro_calibrate(); |
460 | gyro_calibrate(); |
419 | 461 | ||
420 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
462 | // determine gyro bias by averaging (requires that the copter does not rotate around any axis!) |
421 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
463 | for(i=0; i < GYRO_OFFSET_CYCLES; i++) { |
422 | Delay_ms_Mess(10); |
464 | Delay_ms_Mess(20); |
423 | for (axis=0; axis<=YAW; axis++) { |
465 | for (axis=PITCH; axis<=YAW; axis++) { |
424 | deltaOffsets[axis] += rawGyroSum[axis] - gyroOffset[axis]; |
466 | deltaOffsets[axis] += rawGyroSum[axis]; |
Line 425... | Line 467... | ||
425 | } |
467 | } |
426 | } |
468 | } |
427 | 469 | ||
428 | for (axis=0; axis<=YAW; axis++) { |
470 | for (axis=PITCH; axis<=YAW; axis++) { |
Line 429... | Line 471... | ||
429 | filteredDelta = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES / 2) / GYRO_OFFSET_CYCLES; |
471 | gyroOffset[axis] = (deltaOffsets[axis] + GYRO_OFFSET_CYCLES/2) / GYRO_OFFSET_CYCLES; |
430 | gyroOffset[axis] += filteredDelta; |
472 | DebugOut.Analog[20+axis] = gyroOffset[axis]; |
Line 431... | Line 473... | ||
431 | } |
473 | } |
432 | 474 | ||
433 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
475 | // Noise is relative to offset. So, reset noise measurements when changing offsets. |
Line -... | Line 476... | ||
- | 476 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
|
- | 477 | ||
- | 478 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
|
- | 479 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
|
- | 480 | accOffset[Z] = GetParamWord(PID_ACC_Z); |
|
- | 481 | ||
- | 482 | // Rough estimate. Hmm no nothing happens at calibration anyway. |
|
434 | gyroNoisePeak[PITCH] = gyroNoisePeak[ROLL] = 0; |
483 | // airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2); |
435 | 484 | // pressureMeasurementCount = 0; |
|
Line 436... | Line 485... | ||
436 | accOffset[PITCH] = GetParamWord(PID_ACC_PITCH); |
485 | |
437 | accOffset[ROLL] = GetParamWord(PID_ACC_ROLL); |
486 | // Experiment! |
Line 454... | Line 503... | ||
454 | int16_t filteredDelta; |
503 | int16_t filteredDelta; |
455 | // int16_t pressureDiff, savedRawAirPressure; |
504 | // int16_t pressureDiff, savedRawAirPressure; |
Line 456... | Line 505... | ||
456 | 505 | ||
457 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
506 | for(i=0; i < ACC_OFFSET_CYCLES; i++) { |
458 | Delay_ms_Mess(10); |
507 | Delay_ms_Mess(10); |
459 | for (axis=0; axis<=YAW; axis++) { |
508 | for (axis=PITCH; axis<=YAW; axis++) { |
460 | deltaOffset[axis] += acc[axis]; |
509 | deltaOffset[axis] += acc[axis]; |
461 | } |
510 | } |
Line 462... | Line 511... | ||
462 | } |
511 | } |
463 | 512 | ||
464 | for (axis=0; axis<=YAW; axis++) { |
513 | for (axis=PITCH; axis<=YAW; axis++) { |
465 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
514 | filteredDelta = (deltaOffset[axis] + ACC_OFFSET_CYCLES / 2) / ACC_OFFSET_CYCLES; |
Line 466... | Line 515... | ||
466 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
515 | accOffset[axis] += ACC_REVERSED[axis] ? -filteredDelta : filteredDelta; |
Line 484... | Line 533... | ||
484 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
533 | // OCR0A += (rawAirPressure - 512) / rangewidth; |
485 | // Delay_ms_Mess(500); |
534 | // Delay_ms_Mess(500); |
Line 486... | Line 535... | ||
486 | 535 | ||
487 | /* |
536 | /* |
488 | pressureDiff = 0; |
537 | pressureDiff = 0; |
Line 489... | Line 538... | ||
489 | DebugOut.Analog[16] = rawAirPressure; |
538 | // DebugOut.Analog[16] = rawAirPressure; |
490 | 539 | ||
491 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
540 | #define PRESSURE_CAL_CYCLE_COUNT 2 |
492 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
541 | for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) { |
Line 501... | Line 550... | ||
501 | Delay_ms_Mess(200); |
550 | Delay_ms_Mess(200); |
502 | // raw pressure will increase. |
551 | // raw pressure will increase. |
503 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
552 | pressureDiff += (rawAirPressure - savedRawAirPressure); |
504 | } |
553 | } |
Line 505... | Line 554... | ||
505 | 554 | ||
506 | DebugOut.Analog[16] = rangewidth = |
555 | // DebugOut.Analog[16] = |
507 | (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
556 | rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2); |
508 | */ |
557 | */ |