From f22f053c837e919ae49e5cc8a540da99155a0c00 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Patrick=20Jos=C3=A9=20Pereira?= Date: Thu, 10 May 2018 21:00:32 -0300 Subject: [PATCH] AP_Baro: Use C_TO_KELVIN MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick José Pereira --- libraries/AP_Baro/AP_Baro_HIL.cpp | 2 +- libraries/AP_Baro/AP_Baro_SITL.cpp | 4 ++-- libraries/AP_Baro/AP_Baro_UAVCAN.cpp | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Baro/AP_Baro_HIL.cpp b/libraries/AP_Baro/AP_Baro_HIL.cpp index e7309e1d42..e331424d56 100644 --- a/libraries/AP_Baro/AP_Baro_HIL.cpp +++ b/libraries/AP_Baro/AP_Baro_HIL.cpp @@ -88,7 +88,7 @@ void AP_Baro::setHIL(float altitude_msl) SimpleAtmosphere(altitude_msl*0.001f, sigma, delta, theta); float p = p0 * delta; - float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin + float T = 303.16f * theta - C_TO_KELVIN; // Assume 30 degrees at sea level - converted to degrees Kelvin _hil.pressure = p; _hil.temperature = T; diff --git a/libraries/AP_Baro/AP_Baro_SITL.cpp b/libraries/AP_Baro/AP_Baro_SITL.cpp index 761031cd2a..47dc982e1b 100644 --- a/libraries/AP_Baro/AP_Baro_SITL.cpp +++ b/libraries/AP_Baro/AP_Baro_SITL.cpp @@ -105,14 +105,14 @@ void AP_Baro_SITL::_timer() AP_Baro::SimpleAtmosphere(sim_alt * 0.001f, sigma, delta, theta); float p = p0 * delta; - float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin + float T = 303.16f * theta - C_TO_KELVIN; // Assume 30 degrees at sea level - converted to degrees Kelvin temperature_adjustment(p, T); #else float rho, delta, theta; AP_Baro::SimpleUnderWaterAtmosphere(-sim_alt * 0.001f, rho, delta, theta); float p = p0 * delta; - float T = 303.16f * theta - 273.16f; // Assume 30 degrees at sea level - converted to degrees Kelvin + float T = 303.16f * theta - C_TO_KELVIN; // Assume 30 degrees at sea level - converted to degrees Kelvin #endif _recent_press = p; diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp index 8e0af3a40a..e944a2f7ec 100644 --- a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp +++ b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp @@ -82,7 +82,7 @@ void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature) { if (_sem_baro->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { _pressure = pressure; - _temperature = temperature - 273.15f; + _temperature = temperature - C_TO_KELVIN; _last_timestamp = AP_HAL::micros64(); _sem_baro->give(); }