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Code Issues Wiki Activity

Fix debug_gps_altitude values (#12803)

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ctzsnooze 2023-08-16 15:09:29 +10:00 • committed by GitHub
parent 21e3fb608d
commit 3ab822b661
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2 changed files with 9 additions and 9 deletions
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2
src/main/flight/gps_rescue.c
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@ -919,7 +919,7 @@ void gpsRescueUpdate(void)
DEBUG_SET(DEBUG_GPS_RESCUE_TRACKING, 3, lrintf(rescueState.intent.targetAltitudeCm));
DEBUG_SET(DEBUG_GPS_RESCUE_THROTTLE_PID, 3, lrintf(rescueState.intent.targetAltitudeCm));
DEBUG_SET(DEBUG_RTH, 0, lrintf(rescueState.intent.maxAltitudeCm));
DEBUG_SET(DEBUG_RTH, 0, lrintf(rescueState.intent.maxAltitudeCm / 10.0f));
performSanityChecks();
rescueAttainPosition();

14
src/main/flight/position.c
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@ -143,7 +143,7 @@ void calculateEstimatedAltitude(void)
}
}
zeroedAltitudeCm = 0.0f; // always hold relativeAltitude at zero while disarmed
DEBUG_SET(DEBUG_ALTITUDE, 2, gpsAltCm / 100.0f); // Absolute altitude ASL in metres, max 32,767m
// *** ARMED ***
} else {
if (!wasArmed) { // things to run once, on arming, after being disarmed
@ -165,6 +165,7 @@ void calculateEstimatedAltitude(void)
gpsTrust = 0.0f;
// TO DO - smoothly reduce GPS trust, rather than immediately dropping to zero for what could be only a very brief loss of 3D fix
}
DEBUG_SET(DEBUG_ALTITUDE, 2, lrintf(zeroedAltitudeCm / 10.0f)); // Relative altitude above takeoff, to 0.1m, rolls over at 3,276.7m
// Empirical mixing of GPS and Baro altitudes
if (useZeroedGpsAltitude && (positionConfig()->altitude_source == DEFAULT || positionConfig()->altitude_source == GPS_ONLY)) {
@ -181,8 +182,8 @@ void calculateEstimatedAltitude(void)
}
}
zeroedAltitudeCm = pt2FilterApply(&altitudeLpf, zeroedAltitudeCm);
// NOTE: this filter must receive 0 as its input, for the whole disarmed time, to ensure correct zeroed values on arming
zeroedAltitudeCm = pt2FilterApply(&altitudeLpf, zeroedAltitudeCm);
// NOTE: this filter must receive 0 as its input, for the whole disarmed time, to ensure correct zeroed values on arming
if (wasArmed) {
displayAltitudeCm = zeroedAltitudeCm; // while armed, show filtered relative altitude in OSD / sensors tab
@ -202,13 +203,12 @@ void calculateEstimatedAltitude(void)
// *** set debugs
DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust));
DEBUG_SET(DEBUG_ALTITUDE, 1, baroAltCm);
DEBUG_SET(DEBUG_ALTITUDE, 2, gpsAltCm);
DEBUG_SET(DEBUG_ALTITUDE, 1, lrintf(baroAltCm / 10.0f)); // Relative altitude above takeoff, to 0.1m, rolls over at 3,276.7m
#ifdef USE_VARIO
DEBUG_SET(DEBUG_ALTITUDE, 3, estimatedVario);
#endif
DEBUG_SET(DEBUG_RTH, 1, displayAltitudeCm);
DEBUG_SET(DEBUG_BARO, 3, baroAltCm);
DEBUG_SET(DEBUG_RTH, 1, lrintf(displayAltitudeCm / 10.0f));
DEBUG_SET(DEBUG_BARO, 3, lrintf(baroAltCm / 10.0f));
}
#endif //defined(USE_BARO) || defined(USE_GPS)