|Subject:||Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c|
|Date:||Tue, 3 Sep 2013 14:13:44 -0300|
Felix, i like the idea to have the AGL in the messages.
This is important when using UAV in photogrametry.
I like to see the AGL in GCS to confirm that UAV are in correct altitude.
May be a message like that used in ins_extended that show the baro and sonar values but in meters.
in my work UAV i ever modify the ppz to have de baro AGL but i think that ins_alt_z in much more precise then an AGL using alt_z is much more precise.
Date: Tue, 3 Sep 2013 17:14:22 +0200
Subject: Re: [Paparazzi-devel] Critical behaviour of baro_ms5611_i2c
the altitude will always be a bit off, since you have pressure differences due to weather. That is why you normally use the pressure at level of the field before taking off (QFE) as a reference.
Also the altitude computed in the module is not really used (and indeed should not be)... just didn't remove that for now.
For that reason IMHO it doesn't make much sense to compute the pressure in the modules anyway and hence there isn't much benefit in adding an altitude field it to the BARO_MS5611 message. This message is mostly meant for meteorological applications where you want the raw measurements.
Regarding the two "implementations" of the baro_ms5611. The rotorcraft firmware currently still uses the global baro struct (was introduced for baros already present on an autopilot).
With the proposal to use ABI for the baros, this struct would not be needed anymore and the implementation in subsystems/sensors could be removed.
On Tue, Sep 3, 2013 at 6:47 AM, alonso acuña <address@hidden> wrote:
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