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Baro Jitter Prevention // Enabled by default

This commit is contained in:
borisbstyle 2015-10-29 21:13:12 +01:00
parent a2b795580b
commit e7ce0193ce
2 changed files with 9 additions and 7 deletions
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4
src/main/config/config.c
View File

@ -412,11 +412,7 @@ static void resetConf(void)
// xxx_hardware: 0:default/autodetect, 1: disable
masterConfig.mag_hardware = 1;
#ifdef IRCFUSIONF3
masterConfig.baro_hardware = 0;
#else
masterConfig.baro_hardware = 1;
#endif
resetBatteryConfig(&masterConfig.batteryConfig);

12
src/main/mw.c
View File

@ -96,6 +96,7 @@ enum {
#define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 100 // Watchdog for boards without interrupt for gyro
#define PREVENT_RX_PROCESS_PRE_LOOP_TRIGGER 80 // Prevent RX processing before expected loop trigger
#define PREVENT_BARO_READ_PRE_LOOP_TRIGGER 150 // Prevent BARO processing before expected loop trigger
#define GYRO_RATE 0.001f // Gyro refresh rate 1khz
uint32_t currentTime = 0;
@ -479,7 +480,7 @@ typedef enum {
#define PERIODIC_TASK_COUNT (UPDATE_DISPLAY_TASK + 1)
void executePeriodicTasks(void)
void executePeriodicTasks(bool skipBaroUpdate)
{
static int periodicTaskIndex = 0;
@ -494,7 +495,7 @@ void executePeriodicTasks(void)
#ifdef BARO
case UPDATE_BARO_TASK:
if (sensors(SENSOR_BARO)) {
if (sensors(SENSOR_BARO) && !(skipBaroUpdate)) {
baroUpdate(currentTime);
}
break;
@ -713,6 +714,7 @@ void loop(void)
{
static uint32_t loopTime;
static bool haveProcessedRxOnceBeforeLoop = false;
bool skipBaroUpdate = false;
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
@ -744,8 +746,12 @@ void loop(void)
#endif
} else {
if ((int32_t)(currentTime - (loopTime - PREVENT_BARO_READ_PRE_LOOP_TRIGGER)) >= 0) {
skipBaroUpdate = true;
}
// not processing rx this iteration
executePeriodicTasks();
executePeriodicTasks(skipBaroUpdate);
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will