updated baro test

ArduCopter/test.pde

@@ -429,7 +429,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
 
 	while(1){
 		//delay(20);
-		if (millis() - fast_loopTimer >= 5) {
+		if (millis() - fast_loopTimer >=5) {
 
 			// IMU
 			// ---
@@ -795,9 +795,16 @@ test_baro(uint8_t argc, const Menu::arg *argv)
 	init_barometer();
 
 	while(1){
+		delay(100);
+		barometer.Read();
 		delay(100);
 		baro_alt 		= read_barometer();
-		Serial.printf_P(PSTR("Baro: %dcm\n"), baro_alt);
+
+		int temp_rate = (barometer._offset_press - barometer.RawPress) << 1;
+		altitude_rate = (temp_rate - old_rate) * 10;
+		old_rate = temp_rate;
+						//			1			2	3	4	 5		 1        2				3   				4					5
+		Serial.printf_P(PSTR("Baro: %dcm, rate:%d, %ld, %ld, %d\n"), baro_alt, altitude_rate, barometer.RawTemp, barometer.RawPress, temp_rate);
 		//Serial.printf_P(PSTR("Baro, %d, %ld, %ld, %ld, %ld\n"), baro_alt, barometer.RawTemp, barometer.RawTemp2, barometer.RawPress, barometer.RawPress2);
 		if(Serial.available() > 0){
 			return (0);