From 9cf36c553c9313de09605e3a29869ba771262269 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 21 Jul 2012 16:44:42 -0700
Subject: [PATCH] ACM: Fixed Baro rate patch to work with Sonar and added
simple filter
---
ArduCopter/ArduCopter.pde | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index df78810cf..d6757e753 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2113,10 +2113,18 @@ static void update_altitude()
baro_alt = read_barometer();
// calc the vertical accel rate
+ /*
+ // 2.6 way
int temp = (baro_alt - old_baro_alt) * 10;
baro_rate = (temp + baro_rate) >> 1;
baro_rate = constrain(baro_rate, -300, 300);
old_baro_alt = baro_alt;
+ */
+
+ // Using Tridge's new clamb rate calc
+ int temp = barometer.get_climb_rate() * 100;
+ baro_rate = (temp + baro_rate) >> 1;
+ baro_rate = constrain(baro_rate, -300, 300);
#endif
// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
@@ -2160,9 +2168,7 @@ static void update_altitude()
current_loc.alt = baro_alt;
// dont blend, go straight baro
- //climb_rate_actual = baro_rate;
- // Tridge's cool Baro patch
- climb_rate_actual = barometer.get_climb_rate() * 100;
+ climb_rate_actual = baro_rate;
}
}else{
--
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