Use barometer data for altitude hold#97
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Related to espressif#89 Implement the use of barometer data for altitude/height hold. * **Process Barometer Measurements** - Implement the `processBarometerMeasurements` function in `sensors_mpu6050_hm5883L_ms5611.c` to process barometer data from the MS5611 sensor. - Update the `sensorsSetupSlaveRead` function to configure the MS5611 sensor for reading pressure and temperature data. - Update the `sensorsTask` function to call `processBarometerMeasurements` when barometer data is available. * **Altitude Estimation** - Update the `positionEstimateInternal` function in `position_estimator_altitude.c` to incorporate barometer data for altitude estimation. - Add a blending factor `baroAlpha` for barometer data in the `selfState_s` structure. * **Vertical Velocity Update** - Update the `positionUpdateVelocityInternal` function in `position_estimator_altitude.c` to update the vertical velocity using barometer data. - Add a blending factor `baroAlpha` for barometer data in the `selfState_s` structure. * **Parameter Addition** - Add a new parameter `baroAlpha` to the `posEstAlt` parameter group in `position_estimator_altitude.c`.
Collaborator
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Hi @vishwamartur , thanks for your contribution. This changes LGTM! Have you enabled the MS5611 and tested on the real hardware ? |
Author
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Thank you! The code has not been tested on real hardware yet. I will validate the code again and provide an update. We can sync up and conduct testing afterward. |
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Related to #89
Implement the use of barometer data for altitude/height hold.
Process Barometer Measurements
processBarometerMeasurementsfunction insensors_mpu6050_hm5883L_ms5611.cto process barometer data from the MS5611 sensor.sensorsSetupSlaveReadfunction to configure the MS5611 sensor for reading pressure and temperature data.sensorsTaskfunction to callprocessBarometerMeasurementswhen barometer data is available.Altitude Estimation
positionEstimateInternalfunction inposition_estimator_altitude.cto incorporate barometer data for altitude estimation.baroAlphafor barometer data in theselfState_sstructure.Vertical Velocity Update
positionUpdateVelocityInternalfunction inposition_estimator_altitude.cto update the vertical velocity using barometer data.baroAlphafor barometer data in theselfState_sstructure.Parameter Addition
baroAlphato theposEstAltparameter group inposition_estimator_altitude.c.