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Fix an erroneous constant in the calculation of altitude from b… (#8874) 

Fix an erroneous constant in the calculation of altitude from barometric pressure.
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Michael Keller 2019-09-15 00:43:42 +12:00 committed by GitHub
parent 6f6ab50fb3 cc1b8e3e39
commit 7e160e1380
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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4
src/main/sensors/barometer.c
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@ -425,7 +425,7 @@ int32_t baroCalculateAltitude(void)
// calculates height from ground via baro readings
// see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
if (isBaroCalibrationComplete()) {
BaroAlt_tmp = lrintf((1.0f - pow_approx((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp = lrintf((1.0f - pow_approx((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190259f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
baro.BaroAlt = lrintf((float)baro.BaroAlt * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf) + (float)BaroAlt_tmp * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_noise_lpf))); // additional LPF to reduce baro noise
}
@ -441,7 +441,7 @@ void performBaroCalibrationCycle(void)
baroGroundPressure -= baroGroundPressure / 8;
baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
baroGroundAltitude = (1.0f - pow_approx((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
baroGroundAltitude = (1.0f - pow_approx((baroGroundPressure / 8) / 101325.0f, 0.190259f)) * 4433000.0f;
if (baroGroundPressure == savedGroundPressure)
calibratingB = 0;