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fix alti for dji and fc whitout baro #259

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Merged
nerdCopter merged 1 commit into from
May 26, 2020
Merged

fix alti for dji and fc whitout baro #259

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6 changes: 3 additions & 3 deletions src/main/flight/position.c
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Original file line number Diff line number Diff line change
Expand Up @@ -100,10 +100,10 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {

if (haveGpsAlt && haveBaroAlt) {
estimatedAltitude = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
} else if (haveBaroAlt) {
estimatedAltitude = baroAlt;
}else if (haveGpsAlt) {
}else if (haveGpsAlt) {
estimatedAltitude = gpsAlt;
}else if (haveBaroAlt) {
estimatedAltitude = baroAlt;
}


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4 changes: 2 additions & 2 deletions src/main/interface/msp.c
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Expand Up @@ -931,7 +931,7 @@ bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;

case MSP_ALTITUDE:
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
#if defined(USE_BARO) || defined(USE_RANGEFINDER) || defined(USE_GPS)
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@gretel gretel Jul 19, 2020

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take care #323 won't bring in similar.

sbufWriteU32(dst, getEstimatedAltitude());
#else
sbufWriteU32(dst, 0);
Expand Down Expand Up @@ -1983,7 +1983,7 @@ mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentPidProfile->dFilter[YAW].Wc = sbufReadU8(src);
gyroConfigMutable()->dyn_notch_q_factor = sbufReadU16(src);
gyroConfigMutable()->dyn_notch_min_hz = sbufReadU16(src);

}

// reinitialize the gyro filters with the new values
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