diff options
| -rw-r--r-- | src/ao_flight_test.c | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c index f41acbca..57785442 100644 --- a/src/ao_flight_test.c +++ b/src/ao_flight_test.c @@ -41,6 +41,7 @@ struct ao_adc { uint16_t tick; /* tick when the sample was read */ int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ + int16_t pres_real; /* unclipped */ int16_t temp; /* temperature sensor */ int16_t v_batt; /* battery voltage */ int16_t sense_d; /* drogue continuity sense */ @@ -61,6 +62,8 @@ struct ao_adc { * Above this height, the baro sensor doesn't work */ #define AO_MAX_BARO_HEIGHT 12000 +#define AO_BARO_SATURATE 13000 +#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE) /* * Above this speed, baro measurements are unreliable @@ -201,6 +204,8 @@ extern uint16_t ao_sample_tick; extern int16_t ao_sample_height; extern int16_t ao_sample_accel; extern int32_t ao_accel_scale; +extern int16_t ao_ground_height; +extern int16_t ao_sample_alt; int ao_sample_prev_tick; uint16_t prev_tick; @@ -255,7 +260,7 @@ ao_insert(void) ao_adc_ring[ao_adc_head] = ao_adc_static; ao_adc_head = ao_adc_ring_next(ao_adc_head); if (ao_flight_state != ao_flight_startup) { - double height = ao_pres_to_altitude(ao_sample_pres) - ao_ground_height; + double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height; double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); @@ -373,6 +378,9 @@ ao_sleep(void *wchan) case 'A': ao_adc_static.tick = tick; ao_adc_static.accel = a; + ao_adc_static.pres_real = b; + if (b < AO_MIN_BARO_VALUE) + b = AO_MIN_BARO_VALUE; ao_adc_static.pres = b; ao_records_read++; ao_insert(); |