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attempt to fix no altitude in GPS only mode

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This commit is contained in:
ctzsnooze 2022-09-15 10:35:18 +10:00
parent da02aff97e
commit a930481dc3
1 changed files with 5 additions and 9 deletions
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14
src/main/flight/position.c
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@ -184,18 +184,14 @@ void calculateEstimatedAltitude()
}
// eg if discrepancy is 3m and GPS trust was 0.9, it would now be 0.3
// *** If we have a GPS with 3D fix and a Baro signal, blend them
if (haveGpsAlt && haveBaroAlt && positionConfig()->altitude_source == DEFAULT) {
if (ARMING_FLAG(ARMED)) {
if (haveGpsAlt && !(positionConfig()->altitude_source == BARO_ONLY)) {
if (haveBaroAlt) { // have a baro signal, and are in GPS_ONLY or DEFAULT modes, so mix GPS and Baro
altitudeToFilterCm = altitudeToFilterCm * gpsTrustModifier + baroAltCm * (1 - gpsTrustModifier);
// if we have no Baro signal, then altitudeToFilterCm and baroAltCm carry existing GPS altitude values through
}
// *** if we only have a Baro, use it if in Default or Baro Only modes, but not if in GPS_only mode
} else if (haveBaroAlt && (positionConfig()->altitude_source == BARO_ONLY || positionConfig()->altitude_source == DEFAULT)) {
altitudeToFilterCm = baroAltCm;
gpsAltCm = baroAltCm; // gpsAltCm will be shown in OSD or sensors while disarmed. If no GPS it will show baro.
// we only have a Baro, but settings say don't use it, or, we have neither GPS nor Baro data; lock altitude solid at zero so the user knows
altitudeToFilterCm = baroAltCm; // ignore GPS altitude because we want Baro only
gpsAltCm = baroAltCm; // it's the gpsAltCm value that is shown in OSD before arming, so with no GPS we show Baro values
} else {
altitudeToFilterCm = 0.0f;
gpsAltCm = 0.0f;