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Re: [Paparazzi-devel] ins alt_float using barometer.

From: Felix Ruess
Subject: Re: [Paparazzi-devel] ins alt_float using barometer.
Date: Tue, 13 May 2014 23:06:55 +0200


using alt_float without baro will filter the altitude you get from the GPS and directly use the vertical speed from GPS.
If this yields better results than using gps_passthrough can't answered in general, it depends how good your GPS altitude is (GPS sensor, antenna, satellite visibility, etc...)...

In master using ins alt_float with USE_BAROMETER should not be difficult at all, you don't need to specify any INS_BARO_SENS and stuff like that anymore...
However if your GPS is good, it should yield better results than using e.g. the BMP085 barometer... The MS5611 should be better than the BMP, but I don't have any quantitative results compared to e.g. a ublox6.

Cheers, Felix

On Thu, Apr 24, 2014 at 6:50 AM, alonso acuña <address@hidden> wrote:
Hi. I have been using ins=gps_passthrough .  I am looking into whether alt_float would be a better option. I don't want to use the barometer because it appears to be too complicated. Would alt_float without baro work better than gps_passthrough?

On Tue, Apr 22, 2014 at 3:55 AM, Gautier Hattenberger <address@hidden> wrote:
Using the barometer will not change the display in the GCS, nor internally, since the the value is corrected by ground_alt (line 101).
But if you have the SRTM data (in GCS menu nav, select SRTM, if you don't have it yet it will ask for downloading it), the GCS strip will display both AGL and AMSL values (
So if your GPS is good enough, you should use it.


Le 22/04/2014 11:19, paparazzi_guy a écrit :
Yes, I think you might be right. I read about that change as well with

aspirin_v2.2. Unfortunately, we can't switch to v2.1 since we had a lot of
trouble in the past with using the older drivers with our IMU. How does
someone go about getting the master code? (I don't know if that's a stupid
question or not).

Anyways, the reason I wanted to use the barometer was to get a more accurate
reading for altitude and to view the plane's altitude in a more readable
fashion. What I mean by this is that when you use the barometer I believe
the sensor gives you the altitude above ground level. Right now we're using
the GPS to measure our altitude, which is actually decently accurate, but it
always gives you the altitude of the UAV from above sea level and the
altitude of your waypoints from above ground level in the GCS. This can get
confusing when it's one more thing to keep in mind during flight, but it's
something that we can live with. I would think there would be a way to
adjust that but I couldn't see how.


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