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Reworked altitude estimation. Made it work when ACC is disabled.

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This commit is contained in:
mikeller 2017-03-29 02:01:09 +13:00
parent 9053feb418
commit 6a03b48e7f
21 changed files with 127 additions and 135 deletions
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6
src/main/fc/fc_msp.c
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@ -62,7 +62,7 @@
#include "fc/rc_adjustments.h"
#include "fc/runtime_config.h"
#include "flight/altitudehold.h"
#include "flight/altitude.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
@ -700,11 +700,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_ALTITUDE:
#if defined(BARO) || defined(SONAR)
sbufWriteU32(dst, altitudeHoldGetEstimatedAltitude());
sbufWriteU32(dst, getEstimatedAltitude());
#else
sbufWriteU32(dst, 0);
#endif
sbufWriteU16(dst, vario);
sbufWriteU16(dst, getEstimatedVario());
break;
case MSP_SONAR_ALTITUDE: