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Re: [Paparazzi-devel] Sonar and baro use

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] Sonar and baro use
Date: Tue, 03 Apr 2012 10:21:15 +0200
User-agent: Mozilla/5.0 (X11; U; Linux i686; en-US; rv: Gecko/20110922 Thunderbird/3.1.15

Hello Loic,

The sonar system is a stupid and quick hack that corrects the baro drift by updating the "ground pressure" from the sonar measurements. They are not even really filtered...
Feel free to improve it.


On 02/04/2012 19:59, Loic Drumettaz wrote:

Hi again,
When using the sonar module, it appears that the baro still influence the altitude reading (baro_alt in ins.c). If i set the baro_sens to  around zero, then the altitude measured with the sonar is much more accurate (less noise). If i keep baro_sens=23, then the altitude reading is like using the baro alone, except that there is no drift. Is this the only benefit of using the sonar: to get rid of the baro drift?

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