- use alt.EstAlt instead of BaroAlt

git-svn-id: http://multiwii.googlecode.com/svn/trunk/MultiWii_shared@1567 02679b44-d973-9852-f2fa-63770883b36c
cedlecomte · Sep 10, 2013 · 396af92 · 396af92
1 parent d585901
commit 396af92
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Showing 5 changed files with 9 additions and 8 deletions.
diff --git a/Alarms.cpp b/Alarms.cpp
@@ -649,14 +649,14 @@ void vario_signaling(void) {
     static uint16_t t = 0;
     if (!(t++ % ALTITUDE_INTERVAL)) {
       static int32_t last_BaroAlt = 0;
-      int32_t delta_BaroAlt = BaroAlt - last_BaroAlt;
+      int32_t delta_BaroAlt = alt.EstAlt - last_BaroAlt;
       if (abs(delta_BaroAlt) > DELTA_ALT_TRESHOLD) {
         // inject suitable values
         max_v = abs(delta_BaroAlt / DELTA_T);
         max_up = (delta_BaroAlt > 0 ? 1 : 0);
         silence = 0;
       }
-      last_BaroAlt = BaroAlt;
+      last_BaroAlt = alt.EstAlt;
     }
   }
   #endif // end method 2

diff --git a/IMU.cpp b/IMU.cpp
@@ -263,6 +263,7 @@ void getEstimatedAttitude(){
 
 #if BARO
 uint8_t getEstimatedAltitude(){
+  int32_t  BaroAlt;
   static int32_t baroGroundPressure;
   static float vel = 0.0f;
   static uint16_t previousT;

diff --git a/LCD.cpp b/LCD.cpp
@@ -2212,7 +2212,7 @@ void lcd_telemetry() {
         case 6:// height
           #if BARO
             {
-              int16_t h = BaroAlt / 100;
+              int16_t h = alt.EstAlt / 100;
               LCDprint('A'); LCDprintInt16(h); LCDprint('m');
               h = BAROaltMax / 100;
               LCDprintChar(" ("); LCDprintInt16(h);

diff --git a/MultiWii.cpp b/MultiWii.cpp
@@ -155,7 +155,7 @@ uint16_t calibratingG;
 int16_t  magHold,headFreeModeHold; // [-180;+180]
 uint8_t  vbatMin = VBATNOMINAL;  // lowest battery voltage in 0.1V steps
 uint8_t  rcOptions[CHECKBOXITEMS];
-int32_t  BaroAlt,AltHold; // in cm
+int32_t  AltHold; // in cm
 int16_t  sonarAlt;
 int16_t  BaroPID = 0;
 int16_t  errorAltitudeI = 0;
@@ -186,7 +186,7 @@ flags_struct_t f;
   uint16_t cycleTimeMax = 0;       // highest ever cycle timen
   uint16_t cycleTimeMin = 65535;   // lowest ever cycle timen
   int32_t  BAROaltMax;             // maximum value
-  uint16_t  GPS_speedMax = 0;    // maximum speed from gps
+  uint16_t GPS_speedMax = 0;       // maximum speed from gps
   uint16_t powerValueMaxMAH = 0;
 #endif
 #if defined(LOG_VALUES) || defined(LCD_TELEMETRY) || defined(ARMEDTIMEWARNING) || defined(LOG_PERMANENT)
@@ -547,7 +547,7 @@ void annexCode() { // this code is excetuted at each loop and won't interfere wi
     #endif
     #ifdef LCD_TELEMETRY
       #if BARO
-        if ( (BaroAlt > BAROaltMax) ) BAROaltMax = BaroAlt;
+        if ( (alt.EstAlt > BAROaltMax) ) BAROaltMax = alt.EstAlt;
       #endif
       #if GPS
         if ( (GPS_speed > GPS_speedMax) ) GPS_speedMax = GPS_speed;
@@ -710,7 +710,7 @@ void go_arm() {
       #endif
       #ifdef LCD_TELEMETRY // reset some values when arming
         #if BARO
-          BAROaltMax = BaroAlt;
+          BAROaltMax = alt.EstAlt;
         #endif
         #if GPS
           GPS_speedMax = 0;

diff --git a/MultiWii.h b/MultiWii.h
@@ -39,7 +39,7 @@ extern uint16_t calibratingG;
 extern int16_t  magHold,headFreeModeHold;
 extern uint8_t  vbatMin;
 extern uint8_t  rcOptions[CHECKBOXITEMS];
-extern int32_t  BaroAlt,AltHold;
+extern int32_t  AltHold;
 extern int16_t  sonarAlt;
 extern int16_t  BaroPID;
 extern int16_t  errorAltitudeI;