From 1ce1fa38643e4cb11f5f3dcab1823f61671d2703 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 9 Jan 2013 23:06:24 +1100
Subject: [PATCH] AP_Baro: update example to use accumulate()

---
 .../AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde   | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde b/libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
index f34d9fec95..56d9b36fc6 100644
--- a/libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
+++ b/libraries/AP_Baro/examples/AP_Baro_BMP085_test/AP_Baro_BMP085_test.pde
@@ -44,11 +44,22 @@ void setup()
 void loop()
 {
     float tmp_float;
+    static uint32_t last_print;
 
-    if((hal.scheduler->micros()- timer) > 50000L) {
+    bmp085.accumulate();
+
+    // accumulate values at 50Hz
+    if ((hal.scheduler->micros()- timer) > 20000L) {
+        bmp085.read();
         timer = hal.scheduler->micros();
+    }
+
+    // print at 2Hz
+    if ((hal.scheduler->millis()- last_print) >= 500) {
+	uint32_t start = hal.scheduler->micros();
+        last_print = hal.scheduler->millis();
         bmp085.read();
-        uint32_t read_time = hal.scheduler->micros() - timer;
+        uint32_t read_time = hal.scheduler->micros() - start;
         if (! bmp085.healthy) {
             hal.console->println("not healthy");
             return;