Updated on Barometer - increased the Temp filtering and decreased the pressure filtering to and get less temp noise, faster response from pressure. I'm filtering the Climb rate differently now, so this higher pressure noise should not hurt the derivative calcs at all now.

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -67,7 +67,7 @@ extern "C" {
 bool AP_Baro_BMP085::init( AP_PeriodicProcess * scheduler )
 {
 	byte buff[22];
-	
+
 	pinMode(BMP085_EOC, INPUT);	 // End Of Conversion (PC7) input
 
 	BMP085_State = 0;		 // Initial state
@@ -207,6 +207,7 @@ void AP_Baro_BMP085::Command_ReadTemp()
 void AP_Baro_BMP085::ReadTemp()
 {
 	uint8_t buf[2];
+	int32_t _temp_sensor;
 
     if (!healthy && millis() < _retry_time) {
         return;
@@ -218,32 +219,13 @@ void AP_Baro_BMP085::ReadTemp()
 		healthy = false;
 		return;
 	}
-	RawTemp = buf[0];
-	RawTemp = (RawTemp << 8) | buf[1];
-
-	if (_offset_temp == 0){
-		_offset_temp = RawTemp;
-		RawTemp = 0;
-	} else {
-		RawTemp -= _offset_temp;
-	}
-
-	// filter
-	_temp_filter[_temp_index++] = RawTemp;
+	_temp_sensor = buf[0];
+	_temp_sensor = (_temp_sensor << 8) | buf[1];
 
-	if(_temp_index >= TEMP_FILTER_SIZE)
-		_temp_index = 0;
+	if (RawTemp == 0)
+		RawTemp = _temp_sensor;
 
-	RawTemp = 0;
-	// sum our filter
-	for(uint8_t i = 0; i < TEMP_FILTER_SIZE; i++){
-		RawTemp += _temp_filter[i];
-	}
-
-	// grab result
-	RawTemp /= TEMP_FILTER_SIZE;
-	//RawTemp >>= 4;
-	RawTemp += _offset_temp;
+	RawTemp = (float)_temp_sensor * .01 + (float)RawTemp * .99;
 }
 
 // Calculate Temperature and Pressure in real units.

libraries/AP_Baro/AP_Baro_BMP085.h

@@ -2,8 +2,7 @@
 #ifndef __AP_BARO_BMP085_H__
 #define __AP_BARO_BMP085_H__
 
-#define TEMP_FILTER_SIZE 4
-#define PRESS_FILTER_SIZE 8
+#define PRESS_FILTER_SIZE 2
 
 #include "AP_Baro.h"
 
@@ -41,9 +40,7 @@ class AP_Baro_BMP085 : public AP_Baro
 	int16_t ac1, ac2, ac3, b1, b2, mb, mc, md;
     uint16_t ac4, ac5, ac6;
 
-	int16_t _temp_filter[TEMP_FILTER_SIZE];
 	int32_t _press_filter[PRESS_FILTER_SIZE];
-	int32_t	_offset_temp;
 
 	uint8_t	_temp_index;
 	uint8_t	_press_index;