气压计温度校准测试，还原

libraries/AP_TempCalibration/AP_TempCalibration.cpp

@@ -19,7 +19,6 @@
 #include "AP_TempCalibration.h"
 #include <stdio.h>
 #include <AP_Baro/AP_Baro.h>
-#include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -136,7 +135,6 @@ void AP_TempCalibration::calculate_calibration(void)
     float current_err = calculate_p_range(baro_exponent);
     float test_exponent = baro_exponent + learn_delta;
     float test_err = calculate_p_range(test_exponent);
-    static float last_err = 0;
     if (test_err >= current_err) {
         test_exponent = baro_exponent - learn_delta;
         test_err = calculate_p_range(test_exponent);
@@ -151,12 +149,6 @@ void AP_TempCalibration::calculate_calibration(void)
         }
         temp_min.set_and_save_ifchanged(learn_temp_start);
         temp_max.set_and_save_ifchanged(learn_temp_start + learn_i*learn_temp_step);
-
-        gcs().send_text(MAV_SEVERITY_INFO, "---CAL: %.2f, %.2f\n", test_exponent,baro_exponent);
-    }
-    if(fabs(last_err - current_err) > 0.01){
-        gcs().send_text(MAV_SEVERITY_INFO, "CAL: %.2f, %.2f,%d, %d,%.2f,%.2f\n", test_exponent,baro_exponent,temp_min,temp_max,current_err,test_err);
-        last_err = current_err;
     }
 }
 
@@ -184,15 +176,7 @@ void AP_TempCalibration::learn_calibration(void)
     }
     float temp = baro.get_temperature(0);
     float P = baro.get_pressure(0);
-    static float last_temp;
-    static uint16_t last_idx;
     uint16_t idx = (temp - learn_temp_start) / learn_temp_step;
-        // gcs().send_text(MAV_SEVERITY_INFO, "learning %u %.2f at %.2f", idx, learn_values[idx], temp);
-    if((last_idx != idx || fabs(last_temp - temp)> 1.0) && !is_zero(learn_values[idx]) ){
-        gcs().send_text(MAV_SEVERITY_INFO, "learning, %u, %.2f, at, %.2f", idx, learn_values[idx], temp);
-        last_idx = idx;
-        last_temp = temp;
-    }
     if (idx >= learn_count) {
         // could change learn_temp_step here
         return;
@@ -207,7 +191,7 @@ void AP_TempCalibration::learn_calibration(void)
     learn_i = MAX(learn_i, idx);
     
     uint32_t now = AP_HAL::millis();
-    if (now - last_learn_ms > 500 &&
+    if (now - last_learn_ms > 100 &&
         idx*learn_temp_step > min_learn_temp_range &&
         temp - learn_temp_start > temp_max - temp_min) {
         last_learn_ms = now;

libraries/AP_TempCalibration/AP_TempCalibration.h

@@ -62,7 +62,7 @@ private:
     uint32_t last_learn_ms;
 
     // temperature at which baro correction starts
-    const float Tzero = 0;
+    const float Tzero = 25;
 
     const float exp_limit_max = 2;
     const float exp_limit_min = 0;
@@ -70,8 +70,7 @@ private:
     
     // require observation of at least 5 degrees of temp range to
     // start learning
-    // const float min_learn_temp_range = 7;
-    const float min_learn_temp_range = 1;
+    const float min_learn_temp_range = 7;
     
     void setup_learning(void);
     void learn_calibration(void);