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add missing haveGpsAlt and haveBaroAlt checks

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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
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21
src/main/flight/position.c
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@ -144,37 +144,24 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
baroAlt -= baroAltOffset; baroAlt -= baroAltOffset;
gpsAlt -= gpsAltOffset; gpsAlt -= gpsAltOffset;
if(positionConfig()->altSource == BARO_ONLY){
estimatedAltitudeCm = baroAlt; if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
#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); estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
#ifdef USE_VARIO #ifdef USE_VARIO
// baro is a better source for vario, so ignore gpsVertSpeed // baro is a better source for vario, so ignore gpsVertSpeed
estimatedVario = calculateEstimatedVario(baroAlt, dTime); estimatedVario = calculateEstimatedVario(baroAlt, dTime);
#endif #endif
} else if (haveGpsAlt) { } else if (haveGpsAlt && (positionConfig()->altSource == GPS_ONLY || positionConfig()->altSource == DEFAULT )) {
estimatedAltitudeCm = gpsAlt; estimatedAltitudeCm = gpsAlt;
#if defined(USE_VARIO) && defined(USE_GPS) #if defined(USE_VARIO) && defined(USE_GPS)
estimatedVario = gpsVertSpeed; estimatedVario = gpsVertSpeed;
#endif #endif
} else if (haveBaroAlt) { } else if (haveBaroAlt && (positionConfig()->altSource == BARO_ONLY || positionConfig()->altSource == DEFAULT)) {
estimatedAltitudeCm = baroAlt; estimatedAltitudeCm = baroAlt;
#ifdef USE_VARIO #ifdef USE_VARIO
estimatedVario = calculateEstimatedVario(baroAlt, dTime); estimatedVario = calculateEstimatedVario(baroAlt, dTime);
#endif #endif
} }
}