From 6211285a64c40be81d367cf4230a89e2f4e31bde Mon Sep 17 00:00:00 2001 From: Davide Mor <davide.mor@skywarder.eu> Date: Wed, 31 Jul 2024 15:56:00 +0200 Subject: [PATCH] [ADA] Exposed a couple of functions required for properly correcting pressure data --- src/shared/algorithms/ADA/ADA.cpp | 9 +++++++++ src/shared/algorithms/ADA/ADA.h | 5 +++++ 2 files changed, 14 insertions(+) diff --git a/src/shared/algorithms/ADA/ADA.cpp b/src/shared/algorithms/ADA/ADA.cpp index 0b61cd63a..929cacc5b 100644 --- a/src/shared/algorithms/ADA/ADA.cpp +++ b/src/shared/algorithms/ADA/ADA.cpp @@ -44,6 +44,15 @@ void ADA::update(const float pressure) updateState(); } +void ADA::update() +{ + // Update the Kalman filter + filter.predict(); + + // Convert filter data to altitudes and speeds + updateState(); +} + ADAState ADA::getState() { return state; } void ADA::setReferenceValues(const ReferenceValues reference) diff --git a/src/shared/algorithms/ADA/ADA.h b/src/shared/algorithms/ADA/ADA.h index 26072b16a..5dc63c49c 100644 --- a/src/shared/algorithms/ADA/ADA.h +++ b/src/shared/algorithms/ADA/ADA.h @@ -44,6 +44,11 @@ public: */ void update(const float pressure); + /** + * @brief Update the Kalman filter, skipping the correct step. + */ + void update(); + /** * @param state ADA state with altitude and Kalman parameters. */ -- GitLab