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move pressure altitude from baros to sensors module

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This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent bdf4f19867
commit 5dc23def2a
22 changed files with 55 additions and 794 deletions
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src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c
+6 -11
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@@ -59,7 +59,7 @@
#include <systemlib/err.h>
#include <termios.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_combined.h>
#include <math.h> // NAN
#include "sPort_data.h"
@@ -319,15 +319,11 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
PX4_INFO("sending FrSky SmartPort telemetry");
struct sensor_baro_s *sensor_baro = malloc(sizeof(struct sensor_baro_s));
if (sensor_baro == NULL) {
err(1, "could not allocate memory");
}
struct sensor_combined_s sensor_combined = {};
float filtered_alt = NAN;
float last_baro_alt = 0.f;
int sensor_sub = orb_subscribe(ORB_ID(sensor_baro));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
uint32_t lastBATV_ms = 0;
uint32_t lastCUR_ms = 0;
@@ -372,13 +368,13 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
orb_check(sensor_sub, &sensor_updated);
if (sensor_updated) {
orb_copy(ORB_ID(sensor_baro), sensor_sub, sensor_baro);
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensor_combined);
if (isnan(filtered_alt)) {
filtered_alt = sensor_baro->altitude;
filtered_alt = sensor_combined.baro_alt_meter;
} else {
filtered_alt = .05f * sensor_baro->altitude + .95f * filtered_alt;
filtered_alt = .05f * sensor_combined.baro_alt_meter + .95f * filtered_alt;
}
}
@@ -546,7 +542,6 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
PX4_DEBUG("freeing sPort memory");
sPort_deinit();
free(sensor_baro);
/* either no traffic on the port (0=>timeout), or D type packet */