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remove abrupt switch to GPS with negative Baro signal

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This commit is contained in:
ctzsnooze 2022-09-15 11:29:15 +10:00
parent a930481dc3
commit 0766d93f72
1 changed files with 3 additions and 1 deletions
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4
src/main/flight/position.c
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@ -179,7 +179,9 @@ void calculateEstimatedAltitude()
// favour GPS if Baro reads negative, this happens due to ground effects
float gpsTrustModifier = gpsTrust;
const float absDifferenceM = fabsf(altitudeToFilterCm - baroAltCm) * positionConfig()->altitude_prefer_baro / 10000.0f;
if (absDifferenceM > 1.0f && baroAltCm > -100.0f) { // significant difference, and baro altitude not negative
if (absDifferenceM > 1.0f) { // when there is a large difference, favour Baro
// warning: "ground effect" in last 10cm of descent causes abrupt increase in pressure
// this is interpreted as an abrupt fall in altitude and could cause motors to increase just as we hit ground, leading to bouncing
gpsTrustModifier /= absDifferenceM;
}
// eg if discrepancy is 3m and GPS trust was 0.9, it would now be 0.3