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 */
* 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
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;
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);
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();