Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 00:05:28 +03:00
Code Issues Wiki Activity

last step of cleanup

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2017-07-03 16:49:43 +02:00
parent 96a5c55c9a
commit c917685718
19 changed files with 60 additions and 60 deletions
Download patch file Download diff file Expand all files Collapse all files

18
src/main/blackbox/blackbox.c
View file

@ -214,7 +214,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"AirSpeed", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_PITOT},
#endif
#ifdef USE_RANGEFINDER
{"sonarRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_SONAR},
{"surfaceRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_SURFACE},
#endif
{"rssi", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_RSSI},
@ -353,7 +353,7 @@ typedef struct blackboxMainState_s {
int16_t magADC[XYZ_AXIS_COUNT];
#endif
#ifdef USE_RANGEFINDER
int32_t sonarRaw;
int32_t surfaceRaw;
#endif
uint16_t rssi;
#ifdef NAV_BLACKBOX
@ -499,7 +499,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
return feature(FEATURE_CURRENT_METER) && batteryConfig()->currentMeterType == CURRENT_SENSOR_ADC;
case FLIGHT_LOG_FIELD_CONDITION_SONAR:
case FLIGHT_LOG_FIELD_CONDITION_SURFACE:
#ifdef USE_RANGEFINDER
return sensors(SENSOR_RANGEFINDER);
#else
@ -635,8 +635,8 @@ static void writeIntraframe(void)
#endif
#ifdef USE_RANGEFINDER
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
blackboxWriteSignedVB(blackboxCurrent->sonarRaw);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SURFACE)) {
blackboxWriteSignedVB(blackboxCurrent->surfaceRaw);
}
#endif
@ -804,8 +804,8 @@ static void writeInterframe(void)
#endif
#ifdef USE_RANGEFINDER
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
deltas[optionalFieldCount++] = blackboxCurrent->sonarRaw - blackboxLast->sonarRaw;
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SURFACE)) {
deltas[optionalFieldCount++] = blackboxCurrent->surfaceRaw - blackboxLast->surfaceRaw;
}
#endif
@ -1145,8 +1145,8 @@ static void loadMainState(timeUs_t currentTimeUs)
#endif
#ifdef USE_RANGEFINDER
// Store the raw sonar value without applying tilt correction
blackboxCurrent->sonarRaw = rangefinderRead();
// Store the raw rangefinder surface readout without applying tilt correction
blackboxCurrent->surfaceRaw = rangefinderRead();
#endif
blackboxCurrent->rssi = rssi;

2
src/main/blackbox/blackbox_fielddefs.h
View file

@ -39,7 +39,7 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_PITOT,
FLIGHT_LOG_FIELD_CONDITION_VBAT,
FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC,
FLIGHT_LOG_FIELD_CONDITION_SONAR,
FLIGHT_LOG_FIELD_CONDITION_SURFACE,
FLIGHT_LOG_FIELD_CONDITION_RSSI,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,

6
src/main/drivers/pwm_mapping.c
View file

@ -155,10 +155,10 @@ pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init)
#endif
#ifdef USE_RANGEFINDER_HCSR04
if (init->useSonar &&
if (init->useTriggerRangefinder &&
(
timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarIOConfig.echoTag
timerHardwarePtr->tag == init->rangefinderIOConfig.triggerTag ||
timerHardwarePtr->tag == init->rangefinderIOConfig.echoTag
)) {
addBootlogEvent6(BOOT_EVENT_TIMER_CH_SKIPPED, BOOT_EVENT_FLAGS_WARNING, timerIndex, pwmIOConfiguration.motorCount, pwmIOConfiguration.servoCount, 3);
continue;

8
src/main/drivers/pwm_mapping.h
View file

@ -44,10 +44,10 @@
#define MAX_INPUTS 8
typedef struct sonarIOConfig_s {
typedef struct rangefinderIOConfig_s {
ioTag_t triggerTag;
ioTag_t echoTag;
} sonarIOConfig_t;
} rangefinderIOConfig_t;
typedef enum {
PLATFORM_MULTIROTOR = 0,
@ -72,7 +72,7 @@ typedef struct drv_pwm_config_s {
bool useSoftSerial;
bool useLEDStrip;
#ifdef USE_RANGEFINDER
bool useSonar;
bool useTriggerRangefinder;
#endif
#ifdef USE_SERVOS
bool useServoOutputs;
@ -84,7 +84,7 @@ typedef struct drv_pwm_config_s {
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
sonarIOConfig_t sonarIOConfig;
rangefinderIOConfig_t rangefinderIOConfig;
} drv_pwm_config_t;
typedef enum {

6
src/main/drivers/rangefinder_hcsr04.c
View file

@ -147,7 +147,7 @@ int32_t hcsr04_get_distance(void)
return lastCalculatedDistance;
}
bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * sonarHardwarePins)
bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins)
{
bool detected = false;
@ -160,8 +160,8 @@ bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * sonar
RCC_ClockCmd(RCC_APB2(SYSCFG), ENABLE);
#endif
triggerIO = IOGetByTag(sonarHardwarePins->triggerTag);
echoIO = IOGetByTag(sonarHardwarePins->echoTag);
triggerIO = IOGetByTag(rangefinderHardwarePins->triggerTag);
echoIO = IOGetByTag(rangefinderHardwarePins->echoTag);
if (IOGetOwner(triggerIO) != OWNER_FREE) {
addBootlogEvent4(BOOT_EVENT_HARDWARE_IO_CONFLICT, BOOT_EVENT_FLAGS_WARNING, IOGetOwner(triggerIO), OWNER_RANGEFINDER);

2
src/main/drivers/rangefinder_hcsr04.h
View file

@ -21,4 +21,4 @@
#define RANGEFINDER_HCSR04_TASK_PERIOD_MS 70
bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * sonarHardwarePins);
bool hcsr04Detect(rangefinderDev_t *dev, const rangefinderHardwarePins_t * rangefinderHardwarePins);

2
src/main/fc/cli.c
View file

@ -3120,7 +3120,7 @@ static void cliStatus(char *cmdline)
}
cliPrint("\r\n");
cliPrintf("Sensor status: GYRO=%s, ACC=%s, MAG=%s, BARO=%s, SONAR=%s, GPS=%s\r\n",
cliPrintf("Sensor status: GYRO=%s, ACC=%s, MAG=%s, BARO=%s, RANGEFINDER=%s, GPS=%s\r\n",
hardwareSensorStatusNames[getHwGyroStatus()],
hardwareSensorStatusNames[getHwAccelerometerStatus()],
hardwareSensorStatusNames[getHwCompassStatus()],

10
src/main/fc/fc_init.c
View file

@ -252,11 +252,11 @@ void init(void)
#ifdef USE_RANGEFINDER_HCSR04
// HC-SR04 has a dedicated connection to FC and require two pins
if (rangefinderConfig()->rangefinder_hardware == RANGEFINDER_HCSR04) {
const rangefinderHardwarePins_t *sonarHardware = sonarGetHardwarePins();
if (sonarHardware) {
pwm_params.useSonar = true;
pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag;
pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag;
const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
if (rangefinderHardwarePins) {
pwm_params.useTriggerRangefinder = true;
pwm_params.rangefinderIOConfig.triggerTag = rangefinderHardwarePins->triggerTag;
pwm_params.rangefinderIOConfig.echoTag = rangefinderHardwarePins->echoTag;
}
}
#endif

2
src/main/msp/msp_protocol.h
View file

@ -162,7 +162,7 @@
#define MSP_VOLTAGE_METER_CONFIG 56
#define MSP_SET_VOLTAGE_METER_CONFIG 57
#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
#define MSP_SONAR_ALTITUDE 58 //out message get surface altitude [cm]
#define MSP_PID_CONTROLLER 59
#define MSP_SET_PID_CONTROLLER 60

2
src/main/navigation/navigation.c
View file

@ -995,7 +995,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
if (navConfig()->general.flags.rth_allow_landing) {
float descentVelLimited = 0;
// A safeguard - if sonar is available and it is reading < 50cm altitude - drop to low descend speed
// A safeguard - if surface altitude sensors is available and it is reading < 50cm altitude - drop to low descend speed
if (posControl.flags.hasValidSurfaceSensor && posControl.actualState.surface < 50.0f) {
// land_descent_rate == 200 : descend speed = 30 cm/s, gentle touchdown
// Do not allow descent velocity slower than -30cm/s so the landing detector works.

34
src/main/navigation/navigation_pos_estimator.c
View file

@ -76,7 +76,7 @@
#define INAV_GPS_TIMEOUT_MS 1500 // GPS timeout
#define INAV_BARO_TIMEOUT_MS 200 // Baro timeout
#define INAV_SONAR_TIMEOUT_MS 300 // Sonar timeout (missed 3 readings in a row)
#define INAV_SURFACE_TIMEOUT_MS 300 // Surface timeout (missed 3 readings in a row)
#define INAV_HISTORY_BUF_SIZE (INAV_POSITION_PUBLISH_RATE_HZ / 2) // Enough to hold 0.5 sec historical data
@ -111,7 +111,7 @@ typedef struct {
typedef struct {
timeUs_t lastUpdateTime; // Last update time (us)
float alt; // Raw altitude measurement (cm)
} navPositionEstimatorSONAR_t;
} navPositionEstimatorSURFACE_t;
typedef struct {
timeUs_t lastUpdateTime; // Last update time (us)
@ -148,7 +148,7 @@ typedef struct {
// Data sources
navPositionEstimatorGPS_t gps;
navPositionEstimatorBARO_t baro;
navPositionEstimatorSONAR_t sonar;
navPositionEstimatorSURFACE_t surface;
navPositionEstimatorPITOT_t pitot;
// IMU data
@ -471,17 +471,17 @@ static void updatePitotTopic(timeUs_t currentTimeUs)
#ifdef USE_RANGEFINDER
/**
* Read sonar and update alt/vel topic
* Read surface and update alt/vel topic
* Function is called from TASK_RANGEFINDER at arbitrary rate - as soon as new measurements are available
*/
void updatePositionEstimator_SurfaceTopic(timeUs_t currentTimeUs)
{
float newSonarAlt = rangefinderRead();
newSonarAlt = rangefinderCalculateAltitude(newSonarAlt, calculateCosTiltAngle());
float newSurfaceAlt = rangefinderRead();
newSurfaceAlt = rangefinderCalculateAltitude(newSurfaceAlt, calculateCosTiltAngle());
if (newSonarAlt > 0 && newSonarAlt <= positionEstimationConfig()->max_surface_altitude) {
posEstimator.sonar.alt = newSonarAlt;
posEstimator.sonar.lastUpdateTime = currentTimeUs;
if (newSurfaceAlt > 0 && newSurfaceAlt <= positionEstimationConfig()->max_surface_altitude) {
posEstimator.surface.alt = newSurfaceAlt;
posEstimator.surface.lastUpdateTime = currentTimeUs;
}
}
#endif
@ -600,7 +600,7 @@ static void updateEstimatedTopic(timeUs_t currentTimeUs)
((currentTimeUs - posEstimator.gps.lastUpdateTime) <= MS2US(INAV_GPS_TIMEOUT_MS)) &&
(posEstimator.gps.eph < positionEstimationConfig()->max_eph_epv); // EPV is checked later
bool isBaroValid = sensors(SENSOR_BARO) && ((currentTimeUs - posEstimator.baro.lastUpdateTime) <= MS2US(INAV_BARO_TIMEOUT_MS));
bool isSonarValid = sensors(SENSOR_RANGEFINDER) && ((currentTimeUs - posEstimator.sonar.lastUpdateTime) <= MS2US(INAV_SONAR_TIMEOUT_MS));
bool isSurfaceValid = sensors(SENSOR_RANGEFINDER) && ((currentTimeUs - posEstimator.surface.lastUpdateTime) <= MS2US(INAV_SURFACE_TIMEOUT_MS));
/* Do some preparations to data */
if (isBaroValid) {
@ -626,7 +626,7 @@ static void updateEstimatedTopic(timeUs_t currentTimeUs)
/* We might be experiencing air cushion effect - use sonar or baro groung altitude to detect it */
bool isAirCushionEffectDetected = ARMING_FLAG(ARMED) &&
((isSonarValid && posEstimator.sonar.alt < 20.0f && posEstimator.state.isBaroGroundValid) ||
((isSurfaceValid && posEstimator.surface.alt < 20.0f && posEstimator.state.isBaroGroundValid) ||
(isBaroValid && posEstimator.state.isBaroGroundValid && posEstimator.baro.alt < posEstimator.state.baroGroundAlt));
#if defined(NAV_GPS_GLITCH_DETECTION)
@ -812,12 +812,12 @@ static void updateEstimatedTopic(timeUs_t currentTimeUs)
#ifdef USE_RANGEFINDER
posEstimator.est.surface = posEstimator.est.surface + posEstimator.est.surfaceVel * dt;
if (isSonarValid) {
const float sonarResidual = posEstimator.sonar.alt - posEstimator.est.surface;
const float bellCurveScaler = scaleRangef(bellCurve(sonarResidual, 50.0f), 0.0f, 1.0f, 0.1f, 1.0f);
if (isSurfaceValid) {
const float surfaceResidual = posEstimator.surface.alt - posEstimator.est.surface;
const float bellCurveScaler = scaleRangef(bellCurve(surfaceResidual, 50.0f), 0.0f, 1.0f, 0.1f, 1.0f);
posEstimator.est.surface += sonarResidual * positionEstimationConfig()->w_z_surface_p * bellCurveScaler * dt;
posEstimator.est.surfaceVel += sonarResidual * positionEstimationConfig()->w_z_surface_v * sq(bellCurveScaler) * dt;
posEstimator.est.surface += surfaceResidual * positionEstimationConfig()->w_z_surface_p * bellCurveScaler * dt;
posEstimator.est.surfaceVel += surfaceResidual * positionEstimationConfig()->w_z_surface_v * sq(bellCurveScaler) * dt;
posEstimator.est.surfaceValid = true;
}
else {
@ -903,7 +903,7 @@ void initializePositionEstimator(void)
posEstimator.gps.lastUpdateTime = 0;
posEstimator.baro.lastUpdateTime = 0;
posEstimator.sonar.lastUpdateTime = 0;
posEstimator.surface.lastUpdateTime = 0;
posEstimator.est.surface = 0;
posEstimator.est.surfaceVel = 0;

2
src/main/navigation/navigation_private.h
View file

@ -77,7 +77,7 @@ typedef struct navigationFlags_s {
// Behaviour modifiers
bool isGCSAssistedNavigationEnabled; // Does iNav accept WP#255 - follow-me etc.
bool isGCSAssistedNavigationReset; // GCS control was disabled - indicate that so code could take action accordingly
bool isTerrainFollowEnabled; // Does iNav use sonar for terrain following (adjusting baro altitude target according to sonar readings)
bool isTerrainFollowEnabled; // Does iNav use rangefinder for terrain following (adjusting baro altitude target according to rangefinders readings)
bool forcedRTHActivated;
} navigationFlags_t;

6
src/main/sensors/rangefinder.c
View file

@ -59,7 +59,7 @@ PG_RESET_TEMPLATE(rangefinderConfig_t, rangefinderConfig,
.rangefinder_hardware = RANGEFINDER_NONE,
);
const rangefinderHardwarePins_t * sonarGetHardwarePins(void)
const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void)
{
static rangefinderHardwarePins_t rangefinderHardwarePins;
@ -95,8 +95,8 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
case RANGEFINDER_HCSR04:
#ifdef USE_RANGEFINDER_HCSR04
{
const rangefinderHardwarePins_t *sonarHardwarePins = sonarGetHardwarePins();
if (hcsr04Detect(dev, sonarHardwarePins)) { // FIXME: Do actual detection if HC-SR04 is plugged in
const rangefinderHardwarePins_t *rangefinderHardwarePins = rangefinderGetHardwarePins();
if (hcsr04Detect(dev, rangefinderHardwarePins)) { // FIXME: Do actual detection if HC-SR04 is plugged in
rangefinderHardware = RANGEFINDER_HCSR04;
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_HCSR04_TASK_PERIOD_MS));
}

2
src/main/sensors/rangefinder.h
View file

@ -43,7 +43,7 @@ typedef struct rangefinder_s {
extern rangefinder_t rangefinder;
const rangefinderHardwarePins_t * sonarGetHardwarePins(void);
const rangefinderHardwarePins_t * rangefinderGetHardwarePins(void);
bool rangefinderInit(void);

4
src/main/target/CC3D/target.c
View file

@ -28,8 +28,8 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
#else
{ TIM4, IO_TAG(PB6), TIM_Channel_1, 0, IOCFG_IPD, TIM_USE_PWM }, // S1_IN
#endif
{ TIM3, IO_TAG(PB5), TIM_Channel_2, 0, IOCFG_IPD, TIM_USE_PWM }, // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / Sonar trigger
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 0, IOCFG_IPD, TIM_USE_PWM }, // S3_IN - SoftSerial RX / Sonar echo / RSSI ADC
{ TIM3, IO_TAG(PB5), TIM_Channel_2, 0, IOCFG_IPD, TIM_USE_PWM }, // S2_IN - SoftSerial TX - GPIO_PartialRemap_TIM3 / HC-SR04 trigger
{ TIM3, IO_TAG(PB0), TIM_Channel_3, 0, IOCFG_IPD, TIM_USE_PWM }, // S3_IN - SoftSerial RX / HC-SR04 echo / RSSI ADC
{ TIM3, IO_TAG(PB1), TIM_Channel_4, 0, IOCFG_IPD, TIM_USE_PWM }, // S4_IN - Current
{ TIM2, IO_TAG(PA0), TIM_Channel_1, 0, IOCFG_IPD, TIM_USE_PWM }, // S5_IN - Vbattery
#ifdef CC3D_PPM1

4
src/main/target/CC3D/target.h
View file

@ -98,8 +98,8 @@
// RC1 GND
// RC2 power
// RC3 PB6/TIM4 unused
// RC4 PB5/TIM3 SCK / softserial1 TX / sonar trigger
// RC5 PB0/TIM3 MISO / softserial1 RX / sonar echo / RSSI ADC
// RC4 PB5/TIM3 SCK / softserial1 TX / HC-SR04 trigger
// RC5 PB0/TIM3 MISO / softserial1 RX / HC-SR04 echo / RSSI ADC
// RC6 PB1/TIM3 MOSI / current
// RC7 PA0/TIM2 CSN / battery voltage
// RC8 PA1/TIM2 CE / RX_PPM

2
src/main/target/F4BY/target.c
View file

@ -24,6 +24,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, IO_TAG(PE13), TIM_Channel_3, 1, IOCFG_AF_PP, GPIO_AF_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO}, // S7_OUT
{ TIM1, IO_TAG(PE14), TIM_Channel_4, 1, IOCFG_AF_PP, GPIO_AF_TIM1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO}, // S8_OUT
{ TIM9, IO_TAG(PE6), TIM_Channel_2, 0, IOCFG_AF_PP, GPIO_AF_TIM9, TIM_USE_ANY }, // sonar echo if needed
{ TIM9, IO_TAG(PE6), TIM_Channel_2, 0, IOCFG_AF_PP, GPIO_AF_TIM9, TIM_USE_ANY }, // HC-SR04 echo if needed
};

4
src/main/target/NAZE/target.h
View file

@ -151,8 +151,8 @@
// RC6 PA3/TIM2 USART2 RX
// RC7 PA6/TIM3 CSN / softserial1 RX / LED_STRIP
// RC8 PA7/TIM3 SCK / softserial1 TX
// RC9 PB0/TIM3 MISO / softserial2 RX / sonar trigger
// RC10 PB1/TIM3 MOSI /softserial2 TX / sonar echo / current
// RC9 PB0/TIM3 MISO / softserial2 RX / HC-SR04 trigger
// RC10 PB1/TIM3 MOSI /softserial2 TX / HC-SR04 echo / current
// Nordic Semiconductor uses 'CSN', STM uses 'NSS'
#define RX_CE_PIN PA1

4
src/main/telemetry/mavlink.c
View file

@ -397,7 +397,7 @@ void mavlinkSendHUDAndHeartbeat(void)
mavClimbRate = getEstimatedActualVelocity(Z) / 100.0f;
#elif defined(GPS)
if (sensors(SENSOR_GPS)) {
// No sonar or baro, just display altitude above MLS
// No surface or baro, just display altitude above MLS
mavAltitude = gpsSol.llh.alt;
}
#endif
@ -411,7 +411,7 @@ void mavlinkSendHUDAndHeartbeat(void)
DECIDEGREES_TO_DEGREES(attitude.values.yaw),
// throttle Current throttle setting in integer percent, 0 to 100
scaleRange(constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX, 0, 100),
// alt Current altitude (MSL), in meters, if we have sonar or baro use them, otherwise use GPS (less accurate)
// alt Current altitude (MSL), in meters, if we have surface or baro use them, otherwise use GPS (less accurate)
mavAltitude,
// climb Current climb rate in meters/second
mavClimbRate);