Baro thrust scaling #28982
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Baro thrust scaling #28982
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andyp1per
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peterbarker
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Jan 8, 2025
peterbarker
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Jan 8, 2025
libraries/AP_Baro/AP_Baro_config.h
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| @@ -103,3 +103,7 @@ | |||
| // this allows for using the simple model with the --ekf-single configure option | |||
| #define AP_BARO_1976_STANDARD_ATMOSPHERE_ENABLED HAL_WITH_EKF_DOUBLE || AP_SIM_ENABLED | |||
| #endif | |||
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| #ifndef HAL_BARO_THST_COMP_ENABLED | |||
| #define HAL_BARO_THST_COMP_ENABLED 1 | |||
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Need to know how useful this might be on other vehicles. And flash cost...
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Cost 160 bytes avg on Durandal
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The parameter is error at max thrust? |
Not sure I follow? |
The parameter description says "User provided thrust scaling in Pascals. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.". If it's a linear scaling, it should be Pascals per something. The code uses the scale as |
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This allows a user to apply a linear pressure compensation to a baro based on thrust output. On a small whoop there is a very causal relationship between pressure and throttle:
By applying this offset the effect can be normalized:
Set by using ```BAROx_THST_SCALE"