baro_board.c File Reference

Paparazzi AR Drone 2 Baro Sensor implementation:. More...

#include "modules/sensors/baro.h"
#include "modules/core/abi.h"
#include "baro_board.h"
#include "navdata.h"

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Macros
#define	BMP180_OSS   0
	Use an extra median filter to filter baro data. More...

Functions
void	baro_init (void)
void	baro_periodic (void)
static int32_t	baro_apply_calibration (int32_t raw)
	Apply temperature and sensor calibration to get pressure in Pa. More...
static int32_t	baro_apply_calibration_temp (int32_t tmp_raw)
	Apply temperature calibration. More...
void	ardrone_baro_event (void)

Detailed Description

Paparazzi AR Drone 2 Baro Sensor implementation:.

Based on BMP180 implementation by C. de Wagter.

Definition in file baro_board.c.

Macro Definition Documentation

BMP180_OSS

#define BMP180_OSS   0

Use an extra median filter to filter baro data.

Definition at line 42 of file baro_board.c.

Function Documentation

ardrone_baro_event()

void ardrone_baro_event

(

void

)

Definition at line 92 of file baro_board.c.

References baro_apply_calibration(), baro_apply_calibration_temp(), navdata_t::baro_available, BARO_BOARD_SENDER_ID, navdata_t::baro_calibrated, get_sys_time_usec(), navdata_t::measure, navdata, navdata_measure_t::pressure, navdata_measure_t::temperature_pressure, and update_median_filter_i().

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baro_apply_calibration()

static int32_t baro_apply_calibration ( int32_t  raw )

inlinestatic

Apply temperature and sensor calibration to get pressure in Pa.

Parameters

raw	uncompensated raw pressure reading

Returns

compensated pressure in Pascal

Definition at line 58 of file baro_board.c.

References bmp180_calib_t::ac1, bmp180_calib_t::ac2, bmp180_calib_t::ac3, bmp180_calib_t::ac4, bmp180_calib_t::b1, bmp180_calib_t::b2, bmp180_calib_t::b5, navdata_t::bmp180_calib, BMP180_OSS, navdata, and p.

Referenced by ardrone_baro_event().

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baro_apply_calibration_temp()

static int32_t baro_apply_calibration_temp ( int32_t  tmp_raw )

inlinestatic

Apply temperature calibration.

Parameters

tmp_raw

uncompensated raw temperature reading

Returns

compensated temperature in 0.1 deg Celcius

Definition at line 84 of file baro_board.c.

References bmp180_calib_t::ac5, bmp180_calib_t::ac6, bmp180_calib_t::b5, navdata_t::bmp180_calib, bmp180_calib_t::mc, bmp180_calib_t::md, and navdata.

Referenced by ardrone_baro_event().

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baro_init()

void baro_init

(

void

)

Definition at line 44 of file baro_board.c.

References init_median_filter_i(), and MEDIAN_DEFAULT_SIZE.

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baro_periodic()

void baro_periodic

(

void

)

Definition at line 51 of file baro_board.c.