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Merge pull request #2760 from mikeller/reworked_altitude_estimation

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Reworked altitude estimation. Made it work when ACC is disabled.
This commit is contained in:
Michael Keller 2017-04-10 13:00:16 +12:00 • committed by GitHub
commit ce8c5fbd79
21 changed files with 127 additions and 136 deletions
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6
src/main/fc/fc_msp.c
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@ -62,7 +62,7 @@
#include "fc/rc_adjustments.h"
#include "fc/runtime_config.h"
#include "flight/altitudehold.h"
#include "flight/altitude.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
@ -693,11 +693,11 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
case MSP_ALTITUDE:
#if defined(BARO) || defined(SONAR)
sbufWriteU32(dst, altitudeHoldGetEstimatedAltitude());
sbufWriteU32(dst, getEstimatedAltitude());
#else
sbufWriteU32(dst, 0);
#endif
sbufWriteU16(dst, vario);
sbufWriteU16(dst, getEstimatedVario());
break;
case MSP_SONAR_ALTITUDE: