int32_t baroCalculateAltitude(void)
{
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
BaroAlt = 0;
}
else {
#ifdef HIL
if (!hilActive) {
#endif
int32_t BaroAlt_tmp;
// calculates height from ground via baro readings
// see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
BaroAlt = lrintf((float)BaroAlt * barometerConfig->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig->baro_noise_lpf)); // additional LPF to reduce baro noise
#ifdef HIL
} else {
BaroAlt = hilToFC.baroAlt;
}
#endif
}
return BaroAlt;
}
bool isCalibrating()
{
#ifdef BARO
if (sensors(SENSOR_ACC) && !isBaroCalibrationComplete()) {
return false;
}
#endif
// Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
}
static bool isCalibrating(void)
{
#ifdef USE_BARO
if (sensors(SENSOR_BARO) && !isBaroCalibrationComplete()) {
return true;
}
#endif
// Note: compass calibration is handled completely differently, outside of the main loop, see f.CALIBRATE_MAG
return (!accIsCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
}
int32_t baroCalculateAltitude(void)
{
int32_t BaroAlt_tmp;
// 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 - powf((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
BaroAlt_tmp -= baroGroundAltitude;
baro.BaroAlt = lrintf((float)baro.BaroAlt * barometerConfig()->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig()->baro_noise_lpf)); // additional LPF to reduce baro noise
}
else {
baro.BaroAlt = 0;
}
return baro.BaroAlt;
}
/**
* Read BARO and update alt/vel topic
* Function is called at main loop rate, updates happen at reduced rate
*/
static void updateBaroTopic(uint32_t currentTime)
{
static navigationTimer_t baroUpdateTimer;
if (updateTimer(&baroUpdateTimer, HZ2US(INAV_BARO_UPDATE_RATE), currentTime)) {
float newBaroAlt = baroCalculateAltitude();
if (sensors(SENSOR_BARO) && isBaroCalibrationComplete()) {
posEstimator.baro.alt = newBaroAlt;
posEstimator.baro.epv = posControl.navConfig->inav.baro_epv;
posEstimator.baro.lastUpdateTime = currentTime;
}
else {
posEstimator.baro.alt = 0;
posEstimator.baro.lastUpdateTime = 0;
}
}
}
void calculateEstimatedAltitude(uint32_t currentTime)
{
static uint32_t previousTime;
uint32_t dTime;
int32_t baroVel;
float dt;
float vel_acc;
int32_t vel_tmp;
float accZ_tmp;
int32_t sonarAlt = -1;
static float accZ_old = 0.0f;
static float vel = 0.0f;
static float accAlt = 0.0f;
static int32_t lastBaroAlt;
static int32_t baroAlt_offset = 0;
float sonarTransition;
#ifdef SONAR
int16_t tiltAngle;
#endif
dTime = currentTime - previousTime;
if (dTime < BARO_UPDATE_FREQUENCY_40HZ)
return;
previousTime = currentTime;
#ifdef BARO
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
vel = 0;
accAlt = 0;
}
BaroAlt = baroCalculateAltitude();
#else
BaroAlt = 0;
#endif
#ifdef SONAR
tiltAngle = calculateTiltAngle(&inclination);
sonarAlt = sonarRead();
sonarAlt = sonarCalculateAltitude(sonarAlt, tiltAngle);
#endif
if (sonarAlt > 0 && sonarAlt < 200) {
baroAlt_offset = BaroAlt - sonarAlt;
BaroAlt = sonarAlt;
} else {
BaroAlt -= baroAlt_offset;
if (sonarAlt > 0 && sonarAlt <= 300) {
sonarTransition = (300 - sonarAlt) / 100.0f;
BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
}
}
dt = accTimeSum * 1e-6f; // delta acc reading time in seconds
// Integrator - velocity, cm/sec
if (accSumCount) {
accZ_tmp = (float)accSum[2] / (float)accSumCount;
} else {
accZ_tmp = 0;
}
vel_acc = accZ_tmp * accVelScale * (float)accTimeSum;
// Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt;
accalttemp=lrintf(100*accAlt); //Checking how acc measures height // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * barometerConfig->baro_cf_alt + (float)BaroAlt * (1.0f - barometerConfig->baro_cf_alt); // complementary filter for altitude estimation (baro & acc)
vel += vel_acc;
#ifdef DEBUG_ALT_HOLD
debug[1] = accSum[2] / accSumCount; // acceleration
debug[2] = vel; // velocity
debug[3] = accAlt; // height
#endif
imuResetAccelerationSum();
#ifdef BARO
if (!isBaroCalibrationComplete()) {
return;
}
#endif
if (sonarAlt > 0 && sonarAlt < 200) {
// the sonar has the best range
EstAlt = BaroAlt;
} else {
EstAlt = accAlt;
}
baroVel = (BaroAlt - lastBaroAlt) * 1000000.0f / dTime;
lastBaroAlt = BaroAlt;
baroVel = constrain(baroVel, -1500, 1500); // constrain baro velocity +/- 1500cm/s
baroVel = applyDeadband(baroVel, 10); // to reduce noise near zero
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * barometerConfig->baro_cf_vel + baroVel * (1.0f - barometerConfig->baro_cf_vel);
vel_tmp = lrintf(vel);
// set vario
vario = applyDeadband(vel_tmp, 5);
if (1)//!(ABS(rcData[THROTTLE] - initialThrottleHold) > rcControlsConfig->alt_hold_deadband))
{
altHoldThrottleAdjustment = calculateAltHoldThrottleAdjustment(vel_tmp, accZ_tmp, accZ_old);
}//dronadrona_1200am
Temp=pidProfile->I8[PIDALT];
barometerConfig->baro_cf_alt=1-Temp/1000 ;
accZ_old = accZ_tmp;
}
void calculateEstimatedAltitude(uint32_t currentTime)
{
static uint32_t previousTime;
uint32_t dTime;
int32_t baroVel;
float dt;
float vel_acc;
int32_t vel_tmp;
float accZ_tmp;
static float accZ_old = 0.0f;
static float vel = 0.0f;
static float accAlt = 0.0f;
static int32_t lastBaroAlt;
#ifdef SONAR
int32_t sonarAlt = SONAR_OUT_OF_RANGE;
static int32_t baroAlt_offset = 0;
float sonarTransition;
#endif
dTime = currentTime - previousTime;
if (dTime < BARO_UPDATE_FREQUENCY_40HZ)
return;
previousTime = currentTime;
#ifdef BARO
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
vel = 0;
accAlt = 0;
}
BaroAlt = baroCalculateAltitude();
#else
BaroAlt = 0;
#endif
#ifdef SONAR
sonarAlt = sonarRead();
sonarAlt = sonarCalculateAltitude(sonarAlt, getCosTiltAngle());
if (sonarAlt > 0 && sonarAlt < sonarCfAltCm) {
// just use the SONAR
baroAlt_offset = BaroAlt - sonarAlt;
BaroAlt = sonarAlt;
} else {
BaroAlt -= baroAlt_offset;
if (sonarAlt > 0 && sonarAlt <= sonarMaxAltWithTiltCm) {
// SONAR in range, so use complementary filter
sonarTransition = (float)(sonarMaxAltWithTiltCm - sonarAlt) / (sonarMaxAltWithTiltCm - sonarCfAltCm);
BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
}
}
#endif
dt = accTimeSum * 1e-6f; // delta acc reading time in seconds
// Integrator - velocity, cm/sec
if (accSumCount) {
accZ_tmp = (float)accSum[2] / (float)accSumCount;
} else {
accZ_tmp = 0;
}
vel_acc = accZ_tmp * accVelScale * (float)accTimeSum;
// Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * barometerConfig->baro_cf_alt + (float)BaroAlt * (1.0f - barometerConfig->baro_cf_alt); // complementary filter for altitude estimation (baro & acc)
vel += vel_acc;
#ifdef DEBUG_ALT_HOLD
debug[1] = accSum[2] / accSumCount; // acceleration
debug[2] = vel; // velocity
debug[3] = accAlt; // height
#endif
imuResetAccelerationSum();
#ifdef BARO
if (!isBaroCalibrationComplete()) {
return;
}
#endif
#ifdef SONAR
if (sonarAlt > 0 && sonarAlt < sonarCfAltCm) {
// the sonar has the best range
EstAlt = BaroAlt;
} else {
EstAlt = accAlt;
}
#else
EstAlt = accAlt;
#endif
baroVel = (BaroAlt - lastBaroAlt) * 1000000.0f / dTime;
lastBaroAlt = BaroAlt;
baroVel = constrain(baroVel, -1500, 1500); // constrain baro velocity +/- 1500cm/s
baroVel = applyDeadband(baroVel, 10); // to reduce noise near zero
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * barometerConfig->baro_cf_vel + baroVel * (1.0f - barometerConfig->baro_cf_vel);
vel_tmp = lrintf(vel);
// set vario
vario = applyDeadband(vel_tmp, 5);
altHoldThrottleAdjustment = calculateAltHoldThrottleAdjustment(vel_tmp, accZ_tmp, accZ_old);
accZ_old = accZ_tmp;
}
void calculateEstimatedAltitude(timeUs_t currentTimeUs)
{
static timeUs_t previousTimeUs = 0;
const uint32_t dTime = currentTimeUs - previousTimeUs;
if (dTime < BARO_UPDATE_FREQUENCY_40HZ) {
return;
}
previousTimeUs = currentTimeUs;
static float vel = 0.0f;
static float accAlt = 0.0f;
int32_t baroAlt = 0;
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
vel = 0;
accAlt = 0;
} else {
baroAlt = baroCalculateAltitude();
estimatedAltitude = baroAlt;
}
}
#endif
#ifdef SONAR
if (sensors(SENSOR_SONAR)) {
int32_t sonarAlt = sonarCalculateAltitude(sonarRead(), getCosTiltAngle());
if (sonarAlt > 0 && sonarAlt >= sonarCfAltCm && sonarAlt <= sonarMaxAltWithTiltCm) {
// SONAR in range, so use complementary filter
float sonarTransition = (float)(sonarMaxAltWithTiltCm - sonarAlt) / (sonarMaxAltWithTiltCm - sonarCfAltCm);
sonarAlt = (float)sonarAlt * sonarTransition + baroAlt * (1.0f - sonarTransition);
estimatedAltitude = sonarAlt;
}
}
#endif
float accZ_tmp = 0;
#ifdef ACC
if (sensors(SENSOR_ACC)) {
const float dt = accTimeSum * 1e-6f; // delta acc reading time in seconds
// Integrator - velocity, cm/sec
if (accSumCount) {
accZ_tmp = (float)accSum[2] / accSumCount;
}
const float vel_acc = accZ_tmp * accVelScale * (float)accTimeSum;
// Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_cf_alt) + (float)baro.BaroAlt * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_cf_alt)); // complementary filter for altitude estimation (baro & acc)
vel += vel_acc;
estimatedAltitude = accAlt;
}
#endif
DEBUG_SET(DEBUG_ALTITUDE, DEBUG_ALTITUDE_ACC, accSum[2] / accSumCount);
DEBUG_SET(DEBUG_ALTITUDE, DEBUG_ALTITUDE_VEL, vel);
DEBUG_SET(DEBUG_ALTITUDE, DEBUG_ALTITUDE_HEIGHT, accAlt);
imuResetAccelerationSum();
int32_t baroVel = 0;
#ifdef BARO
if (sensors(SENSOR_BARO)) {
if (!isBaroCalibrationComplete()) {
return;
}
static int32_t lastBaroAlt = 0;
baroVel = (baroAlt - lastBaroAlt) * 1000000.0f / dTime;
lastBaroAlt = baroAlt;
baroVel = constrain(baroVel, -1500, 1500); // constrain baro velocity +/- 1500cm/s
baroVel = applyDeadband(baroVel, 10); // to reduce noise near zero
}
#endif
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_cf_vel) + baroVel * (1.0f - CONVERT_PARAMETER_TO_FLOAT(barometerConfig()->baro_cf_vel));
int32_t vel_tmp = lrintf(vel);
// set vario
estimatedVario = applyDeadband(vel_tmp, 5);
static float accZ_old = 0.0f;
altHoldThrottleAdjustment = calculateAltHoldThrottleAdjustment(vel_tmp, accZ_tmp, accZ_old);
accZ_old = accZ_tmp;
}
void calculateEstimatedAltitude(uint32_t currentTime)
{
static uint32_t previousTime;
uint32_t dTime;
int32_t baroVel;
float dt;
float vel_acc;
int32_t vel_tmp;
float accZ_tmp;
static float accZ_old = 0.0f;
static float vel = 0.0f;
static float accAlt = 0.0f;
static int32_t lastBaroAlt;
static int32_t baroAlt_offset = 0;
float sonarTransition;
#ifdef SONAR
int16_t tiltAngle;
#endif
dTime = currentTime - previousTime;
if (dTime < BARO_UPDATE_FREQUENCY_40HZ)
return;
previousTime = currentTime;
if (!isBaroCalibrationComplete()) {
performBaroCalibrationCycle();
vel = 0;
accAlt = 0;
}
BaroAlt = baroCalculateAltitude();
#ifdef SONAR
tiltAngle = calculateTiltAngle(&inclination);
sonarAlt = sonarCalculateAltitude(sonarAlt, tiltAngle);
#endif
if (sonarAlt > 0 && sonarAlt < 200) {
baroAlt_offset = BaroAlt - sonarAlt;
BaroAlt = sonarAlt;
} else {
BaroAlt -= baroAlt_offset;
if (sonarAlt > 0) {
sonarTransition = (300 - sonarAlt) / 100.0f;
BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
}
}
dt = accTimeSum * 1e-6f; // delta acc reading time in seconds
// Integrator - velocity, cm/sec
accZ_tmp = (float)accSum[2] / (float)accSumCount;
vel_acc = accZ_tmp * accVelScale * (float)accTimeSum;
// Integrator - Altitude in cm
accAlt += (vel_acc * 0.5f) * dt + vel * dt; // integrate velocity to get distance (x= a/2 * t^2)
accAlt = accAlt * barometerConfig->baro_cf_alt + (float)BaroAlt * (1.0f - barometerConfig->baro_cf_alt); // complementary filter for Altitude estimation (baro & acc)
vel += vel_acc;
#if 1
debug[1] = accSum[2] / accSumCount; // acceleration
debug[2] = vel; // velocity
debug[3] = accAlt; // height
#endif
accSum_reset();
if (!isBaroCalibrationComplete()) {
return;
}
if (sonarAlt > 0 && sonarAlt < 200) {
// the sonar has the best range
EstAlt = BaroAlt;
} else {
EstAlt = accAlt;
}
baroVel = (BaroAlt - lastBaroAlt) * 1000000.0f / dTime;
lastBaroAlt = BaroAlt;
baroVel = constrain(baroVel, -300, 300); // constrain baro velocity +/- 300cm/s
baroVel = applyDeadband(baroVel, 10); // to reduce noise near zero
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * barometerConfig->baro_cf_vel + baroVel * (1.0f - barometerConfig->baro_cf_vel);
vel_tmp = lrintf(vel);
// set vario
vario = applyDeadband(vel_tmp, 5);
BaroPID = calculateBaroPid(vel_tmp, accZ_tmp, accZ_old);
accZ_old = accZ_tmp;
}