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GPS altitude: cleanup all occurancies to assume source is in cm per lsb resolution

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Harmonized (and partly corrected) all occurancies of gpsSol.llh.alt and getEstimatedAltitude() to handle altiude sourced in cm resolution.
This was introduced by GSP_RESCUE/RTH.
Introduced a naming convention that include the unit into the variable/function names:
gpsSol.llh.alt -> gpsSol.llh.alt_cm
getEstimatedAltitude() -> getEstimatedAltitude_cm()
This commit is contained in:
AirBreak69 2018-06-24 12:52:22 +02:00 • committed by mikeller
parent bbdd717505
commit 0e52e21524
23 changed files with 105 additions and 105 deletions
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14
src/main/flight/position.c
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@ -38,7 +38,7 @@
#include "sensors/sensors.h"
#include "sensors/barometer.h"
static int32_t estimatedAltitude = 0; // in cm
static int32_t estimatedAltitudeCm = 0; // in cm
#define BARO_UPDATE_FREQUENCY_40HZ (1000 * 25)
@ -77,7 +77,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
#ifdef USE_GPS
if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
gpsAlt = gpsSol.llh.alt;
gpsAlt = gpsSol.llh.altCm;
haveGpsAlt = true;
if (gpsSol.hdop != 0) {
@ -99,11 +99,11 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
gpsAlt -= gpsAltOffset;
if (haveGpsAlt && haveBaroAlt) {
estimatedAltitude = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
} else if (haveGpsAlt) {
estimatedAltitude = gpsAlt;
estimatedAltitudeCm = gpsAlt;
} else if (haveBaroAlt) {
estimatedAltitude = baroAlt;
estimatedAltitudeCm = baroAlt;
}
DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust));
@ -117,9 +117,9 @@ bool isAltitudeOffset(void)
}
#endif
int32_t getEstimatedAltitude(void)
int32_t getEstimatedAltitudeCm(void)
{
return estimatedAltitude;
return estimatedAltitudeCm;
}
// This should be removed or fixed, but it would require changing a lot of other things to get rid of.