Correct PRS rate + Watchdog alt values

tilaktilak · Apr 23, 2017 · 4915311 · 4915311
1 parent 81bbbe5
commit 4915311
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Showing 4 changed files with 20 additions and 10 deletions.
diff --git a/altitude_filter/kalman.m b/altitude_filter/kalman.m
@@ -3,7 +3,7 @@
 clear all;
 clc;
 
-data = csvread('log8.csv');
+data = csvread('log11.csv');
 time = data(:,1);
 alt = data(:,2);
 smoothed_alt = data(:,3);
@@ -15,7 +15,7 @@
 figure
 plot(rate);
 hold on
-plot(diff(rate)/0.08,'r');
+%plot(diff(rate)/0.08,'r');
 figure
 
 fe = 125 % fréquence d'échantillonnage

diff --git a/bmp280.c b/bmp280.c
@@ -146,7 +146,7 @@ float PressureBMP280(void) {
 
 
 float AltitudeBMP280(void){
-    float press = PressureBMP280();
+    press = PressureBMP280();
     float alt = 0.f;;
     alt = (1.f - powf(((float)press)/101325.f,0.190284f))*145366.45f;
     alt = alt * 0.3048f;

diff --git a/bmp280.h b/bmp280.h
@@ -9,6 +9,8 @@ float AltitudeBMP280(void);
 
 float PressureBMP280(void);
 
+float press;
+
 int32_t t_fine;
 union {
     struct {

diff --git a/main.c b/main.c
@@ -238,7 +238,7 @@ int main(void)
     _Accum const high_offset = 1100.f;
 
 
-    long int const prs_count_max = 10000;
+    long int const prs_count_max = 2;
     int prs_count = 0;
 
 
@@ -266,11 +266,7 @@ int main(void)
                 putchar(c);
             }
 
-            if(++prs_count>=prs_count_max && c=='\n'){ // Ensure NMEA end of line
-                prs_count = 0;
-                uint32_t inttp = (uint32_t)PressureBMP280();
-                printf("PRS %05lx\r\n",(unsigned long int)inttp);
-            }
+
             /*
             if(flag_volume_recv){
                 // SNPRINTF to get volume
@@ -283,11 +279,23 @@ int main(void)
         }
         //dt = count_dt* (1/1E6);
         TIFR1 |= (1 << TOV1);
+
+        if(++prs_count>=prs_count_max && c=='\n'){ // Ensure NMEA end of line
+            prs_count = 0;
+            uint32_t inttp = (uint32_t)press;// Global var set by AltitudeBMP
+            printf("PRS %05lx\r\n",(unsigned long int)inttp);
+        }
+
         time += dt;
 
         alt = AltitudeBMP280();
-        kalman_predict(0.01f);
+        if(alt>0.f && alt<20000.f){
+            kalman_predict(0.01f);
+        }
+        // Check error values on measurement
+        //if(alt>0.f && alt<20000.f){
         kalman_update(alt);
+        //}
         //rate = 0.7*rate + 0.3*X[1];
         rate = X[1];
         //printf("%f,%f,%f,%f\r\n",(double)time, (double)X[0],(double)alt,(double) rate);