Altitde source calculation option (#8127)

Altitde source calculation option

src/main/cli/settings.c

@@ -455,6 +455,10 @@ static const char * const lookupTableGyroFilterDebug[] = {
     "ROLL", "PITCH", "YAW"
 };
 
+static const char * const lookupTablePositionAltSource[] = {
+    "DEFAULT", "BARO_ONLY", "GPS_ONLY"
+};
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -566,6 +570,8 @@ const lookupTableEntry_t lookupTables[] = {
 #endif
 
     LOOKUP_TABLE_ENTRY(lookupTableGyroFilterDebug),
+
+    LOOKUP_TABLE_ENTRY(lookupTablePositionAltSource)
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -1445,6 +1451,9 @@ const clivalue_t valueTable[] = {
 #ifdef USE_OSD
     { "display_name",     VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, MAX_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, displayName) },
 #endif
+
+// PG_POSITION
+    { "position_alt_source",           VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_POSITION_ALT_SOURCE }, PG_POSITION, offsetof(positionConfig_t, altSource) },
 };
 
 const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);

src/main/cli/settings.h

@@ -133,6 +133,7 @@ typedef enum {
     TABLE_LEDSTRIP_COLOR,
 #endif
     TABLE_GYRO_FILTER_DEBUG,
+    TABLE_POSITION_ALT_SOURCE,
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
 

src/main/flight/position.c

@@ -41,6 +41,21 @@
 #include "sensors/sensors.h"
 #include "sensors/barometer.h"
 
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+
+typedef enum {
+    DEFAULT = 0,
+    BARO_ONLY,
+    GPS_ONLY
+} altSource_e;
+
+PG_REGISTER_WITH_RESET_TEMPLATE(positionConfig_t, positionConfig, PG_POSITION, 1);
+
+PG_RESET_TEMPLATE(positionConfig_t, positionConfig,
+    .altSource = DEFAULT,
+);
+
 static int32_t estimatedAltitudeCm = 0;                // in cm
 
 #define BARO_UPDATE_FREQUENCY_40HZ (1000 * 25)
@@ -129,24 +144,27 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
     baroAlt -= baroAltOffset;
     gpsAlt -= gpsAltOffset;
     
-    if (haveGpsAlt && haveBaroAlt) {
+    
+    if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
         estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
 #ifdef USE_VARIO
         // baro is a better source for vario, so ignore gpsVertSpeed
         estimatedVario = calculateEstimatedVario(baroAlt, dTime);
 #endif
-    } else if (haveGpsAlt) {
+    } else if (haveGpsAlt && (positionConfig()->altSource == GPS_ONLY || positionConfig()->altSource == DEFAULT )) {
         estimatedAltitudeCm = gpsAlt;
 #if defined(USE_VARIO) && defined(USE_GPS)
         estimatedVario = gpsVertSpeed;
 #endif
-    } else if (haveBaroAlt) {
+    } else if (haveBaroAlt && (positionConfig()->altSource == BARO_ONLY || positionConfig()->altSource == DEFAULT)) {
         estimatedAltitudeCm = baroAlt;
 #ifdef USE_VARIO
         estimatedVario = calculateEstimatedVario(baroAlt, dTime);
 #endif
     }
     
+	
+    
     DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust));
     DEBUG_SET(DEBUG_ALTITUDE, 1, baroAlt);
     DEBUG_SET(DEBUG_ALTITUDE, 2, gpsAlt);

src/main/flight/position.h

@@ -22,6 +22,12 @@
 
 #include "common/time.h"
 
+typedef struct positionConfig_s {
+    uint8_t altSource;
+} positionConfig_t;
+
+PG_DECLARE(positionConfig_t, positionConfig);
+
 bool isAltitudeOffset(void);
 void calculateEstimatedAltitude(timeUs_t currentTimeUs);
 int32_t getEstimatedAltitudeCm(void);

src/main/pg/pg_ids.h

@@ -79,6 +79,7 @@
 #define PG_IBUS_TELEMETRY_CONFIG 53 // CF 1.x
 //#define PG_VTX_CONFIG 54 // CF 1.x
 #define PG_GPS_RESCUE 55 // struct OK
+#define PG_POSITION 56
 
 // Driver configuration
 #define PG_DRIVER_PWM_RX_CONFIG 100 // does not exist in betaflight