Adjust baro data cal to just report raw sensor data #435
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iandareid
reviewed
Sep 27, 2024
| } | ||
| baro_calibration_mean_ = 0.0f; | ||
| baro_calibration_var_ = 0.0f; | ||
| baro_calibration_count_ = 0; | ||
| } else if (baro_calibration_count_ > SENSOR_CAL_DELAY_CYCLES) { | ||
| float measurement = data_.baro_pressure - ground_pressure_; | ||
| float measurement = data_.baro_pressure; |
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If we don't use the ground pressure, is there a reason to even run the ground pressure calibration? Or am I missing something?
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The bias (ground pressure) is computed to provide a ground altitude/pressure reference for cases where other references are not available. It is accessible to the companion computer by reading the PARAM_BARO_BIAS register. For convenience the standard atmosphere model is used to also compute the PARAM_GROUND_LEVEL parameter.
iandareid
approved these changes
Oct 7, 2024
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Barometers these days are very accurate, so bias offset calibration is now taken to be the pressure altitude at startup.
Raw baro pressure and 'raw' pressure altitude are reported in the telemetry packets.