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Merge pull request #9616 from TonyBlit/fix_alt_before_arm

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Absolute altitude before arming is now correct when using GPS and Baro
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Michael Keller 2020-03-23 13:50:10 +13:00 • committed by mikeller
parent 2f95749523
commit f6fa0bc89e
1 changed files with 5 additions and 1 deletions
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6
src/main/flight/position.c
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@ -146,7 +146,11 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) { if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust); if (ARMING_FLAG(ARMED)) {
estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
} else {
estimatedAltitudeCm = gpsAlt; //absolute altitude is shown before arming, ignore baro
}
#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);