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Reworked altitude estimation. Made it work when ACC is disabled.
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parent
9053feb418
commit
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21 changed files with 127 additions and 135 deletions
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@ -62,7 +62,7 @@
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#include "fc/rc_adjustments.h"
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#include "fc/runtime_config.h"
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#include "flight/altitudehold.h"
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#include "flight/altitude.h"
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#include "flight/failsafe.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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@ -700,11 +700,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
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case MSP_ALTITUDE:
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#if defined(BARO) || defined(SONAR)
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sbufWriteU32(dst, altitudeHoldGetEstimatedAltitude());
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sbufWriteU32(dst, getEstimatedAltitude());
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#else
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sbufWriteU32(dst, 0);
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#endif
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sbufWriteU16(dst, vario);
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sbufWriteU16(dst, getEstimatedVario());
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break;
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case MSP_SONAR_ALTITUDE:
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