Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

add missing haveGpsAlt and haveBaroAlt checks

Browse source 
simplify conditions
This commit is contained in:
Maciej Bunia 2019-04-30 13:07:45 +02:00
parent fe4c3ac149
commit bd5b73d6b0
1 changed files with 14 additions and 27 deletions
Download patch file Download diff file Expand all files Collapse all files

41
src/main/flight/position.c
View file

@ -144,38 +144,25 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
baroAlt -= baroAltOffset;
gpsAlt -= gpsAltOffset;
if(positionConfig()->altSource == BARO_ONLY){
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 && (positionConfig()->altSource == GPS_ONLY || positionConfig()->altSource == DEFAULT )) {
estimatedAltitudeCm = gpsAlt;
#if defined(USE_VARIO) && defined(USE_GPS)
estimatedVario = gpsVertSpeed;
#endif
} else if (haveBaroAlt && (positionConfig()->altSource == BARO_ONLY || positionConfig()->altSource == DEFAULT)) {
estimatedAltitudeCm = baroAlt;
#ifdef USE_VARIO
estimatedVario = calculateEstimatedVario(baroAlt, dTime);
#endif
}
else if (positionConfig()->altSource == GPS_ONLY){
estimatedAltitudeCm = gpsAlt;
#if defined(USE_VARIO) && defined(USE_GPS)
estimatedVario = gpsVertSpeed;
#endif
}
else {
if (haveGpsAlt && haveBaroAlt) {
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) {
estimatedAltitudeCm = gpsAlt;
#if defined(USE_VARIO) && defined(USE_GPS)
estimatedVario = gpsVertSpeed;
#endif
} else if (haveBaroAlt) {
estimatedAltitudeCm = baroAlt;
#ifdef USE_VARIO
estimatedVario = calculateEstimatedVario(baroAlt, dTime);
#endif
}
}
DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust));