Introduced 'baroStartCalibration()' / 'baroSetGroundLevel()' to… (#9178)

Introduced 'baroStartCalibration()' / 'baroSetGroundLevel()' to make barometer code more self contained.

src/main/fc/init.c

@@ -879,7 +879,7 @@ void init(void)
 #endif
     gyroStartCalibration(false);
 #ifdef USE_BARO
-    baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
+    baroStartCalibration();
 #endif
 
 #if defined(USE_VTX_COMMON) || defined(USE_VTX_CONTROL)

src/main/fc/rc_controls.c

@@ -241,8 +241,9 @@ void processRcStickPositions()
 #endif
 
 #ifdef USE_BARO
-        if (sensors(SENSOR_BARO))
-            baroSetCalibrationCycles(10); // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
+        if (sensors(SENSOR_BARO)) {
+            baroSetGroundLevel();
+        }
 #endif
 
         return;

src/main/sensors/barometer.c

@@ -48,12 +48,9 @@
 
 #include "fc/runtime_config.h"
 
-#include "sensors/barometer.h"
 #include "sensors/sensors.h"
 
-#ifdef USE_HARDWARE_REVISION_DETECTION
-#include "hardware_revision.h"
-#endif
+#include "barometer.h"
 
 baro_t baro;                        // barometer access functions
 
@@ -139,6 +136,11 @@ static int32_t baroGroundAltitude = 0;
 static int32_t baroGroundPressure = 8*101325;
 static uint32_t baroPressureSum = 0;
 
+#define CALIBRATING_BARO_CYCLES 200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
+#define SET_GROUND_LEVEL_BARO_CYCLES 10 // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
+
+static bool baroReady = false;
+
 void baroPreInit(void)
 {
 #ifdef USE_SPI
@@ -278,12 +280,20 @@ bool isBaroCalibrationComplete(void)
     return calibratingB == 0;
 }
 
-void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
+static void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
 {
     calibratingB = calibrationCyclesRequired;
 }
 
-static bool baroReady = false;
+void baroStartCalibration(void)
+{
+    baroSetCalibrationCycles(CALIBRATING_BARO_CYCLES);
+}
+
+void baroSetGroundLevel(void)
+{
+    baroSetCalibrationCycles(SET_GROUND_LEVEL_BARO_CYCLES);
+}
 
 #define PRESSURE_SAMPLES_MEDIAN 3
 

src/main/sensors/barometer.h

@@ -64,7 +64,8 @@ extern baro_t baro;
 void baroPreInit(void);
 bool baroDetect(baroDev_t *dev, baroSensor_e baroHardwareToUse);
 bool isBaroCalibrationComplete(void);
-void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired);
+void baroStartCalibration(void);
+void baroSetGroundLevel(void);
 uint32_t baroUpdate(void);
 bool isBaroReady(void);
 int32_t baroCalculateAltitude(void);

src/main/sensors/sensors.h

@@ -44,8 +44,6 @@ typedef union flightDynamicsTrims_u {
     flightDynamicsTrims_def_t values;
 } flightDynamicsTrims_t;
 
-#define CALIBRATING_BARO_CYCLES             200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles
-
 typedef enum {
     SENSOR_GYRO = 1 << 0, // always present
     SENSOR_ACC = 1 << 1,

src/test/unit/arming_prevention_unittest.cc

@@ -1071,7 +1071,7 @@ extern "C" {
     void transponderUpdate(timeUs_t) {}
     void GPS_reset_home_position(void) {}
     void accStartCalibration(void) {}
-    void baroSetCalibrationCycles(uint16_t) {}
+    void baroSetGroundLevel(void) {}
     void changePidProfile(uint8_t) {}
     void changeControlRateProfile(uint8_t) {}
     void dashboardEnablePageCycling(void) {}

src/test/unit/rc_controls_unittest.cc

@@ -631,7 +631,7 @@ uint8_t getCurrentControlRateProfileIndex(void) {
     return 0;
 }
 void GPS_reset_home_position(void) {}
-void baroSetCalibrationCycles(uint16_t) {}
+void baroSetGroundLevel(void) {}
 
 void blackboxLogEvent(FlightLogEvent, flightLogEventData_t *) {}
 

src/test/unit/vtx_unittest.cc

@@ -165,7 +165,7 @@ extern "C" {
     void transponderUpdate(timeUs_t) {}
     void GPS_reset_home_position(void) {}
     void accStartCalibration(void) {}
-    void baroSetCalibrationCycles(uint16_t) {}
+    void baroSetGroundLevel(void) {}
     void changePidProfile(uint8_t) {}
     void changeControlRateProfile(uint8_t) {}
     void dashboardEnablePageCycling(void) {}