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Fix altitude for all #260

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nerdCopter wants to merge 7 commits into from
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Fix altitude for all #260

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3c018a9
Update feature.h (#233)
loutwice May 19, 2020
80add07
Added additional battery voltage field to OSD (#242)
mbilozub May 25, 2020
58875fb
Fix altitude display (#256)
loutwice May 25, 2020
a354584
fix as speed calculation for crsf telemetry (#258)
loutwice May 26, 2020
9488654
fixing little typo
loutwice May 26, 2020
1a7aa94
fix alti for dji and fc whitout baro
loutwice May 26, 2020
89fa9e1
Merge branch 'master' into fix_altitude_for_all
nerdCopter May 26, 2020
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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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8 changes: 6 additions & 2 deletions src/main/interface/msp.c
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Expand Up @@ -525,6 +525,7 @@ bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr
sbufWriteU16(dst, getRssi());
#endif
sbufWriteU16(dst, (int16_t)constrain(getAmperage(), -0x8000, 0x7FFF)); // send current in 0.01 A steps, range is -320A to 320A
sbufWriteU16(dst, getBatteryVoltage() * 10);
break;

case MSP_DEBUG:
Expand Down Expand Up @@ -563,6 +564,9 @@ bool mspCommonProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFnPtr

// battery alerts
sbufWriteU8(dst, (uint8_t)getBatteryState());

// Additional battery voltage field (DJI osd etc) (in 0.01V steps)
sbufWriteU16(dst, getBatteryVoltage() * 10);
break;
}

Expand Down Expand Up @@ -927,7 +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)
sbufWriteU32(dst, getEstimatedAltitude());
#else
sbufWriteU32(dst, 0);
Expand Down Expand Up @@ -1979,7 +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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2 changes: 1 addition & 1 deletion src/main/telemetry/crsf.c
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Expand Up @@ -180,7 +180,7 @@ void crsfFrameGps(sbuf_t *dst)
sbufWriteU8(dst, CRSF_FRAMETYPE_GPS);
sbufWriteU32BigEndian(dst, gpsSol.llh.lat); // CRSF and betaflight use same units for degrees
sbufWriteU32BigEndian(dst, gpsSol.llh.lon);
sbufWriteU16BigEndian(dst, (gpsSol.groundSpeed * 36 + 5) / 10); // gpsSol.groundSpeed is in 0.1m/s
sbufWriteU16BigEndian(dst, (gpsSol.groundSpeed * 36 + 50) / 100); // gpsSol.groundSpeed is in cm/s
sbufWriteU16BigEndian(dst, gpsSol.groundCourse * 10); // gpsSol.groundCourse is degrees * 10
//Send real GPS altitude only if it's reliable (there's a GPS fix)
const uint16_t altitude = (constrain(getEstimatedAltitude(), 0 * 100, 5000 * 100) / 100) + 1000; // constrain altitude from 0 to 5,000m
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2 changes: 1 addition & 1 deletion src/test/unit/telemetry_crsf_unittest.cc
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Expand Up @@ -125,7 +125,7 @@ TEST(TelemetryCrsfTest, TestGPS)
gpsSol.llh.lon = 163 * GPS_DEGREES_DIVIDER;
ENABLE_STATE(GPS_FIX);
gpsSol.llh.alt = 2345 * 100; // altitude in cm
gpsSol.groundSpeed = 163; // speed in 0.1m/s, 16.3 m/s = 58.68 km/h, so CRSF (km/h *10) value is 587
gpsSol.groundSpeed = 1630; // speed in cm/s, 16.3 m/s = 58.68 km/h, so CRSF (km/h *10) value is 587
gpsSol.numSat = 9;
gpsSol.groundCourse = 1479; // degrees * 10
frameLen = getCrsfFrame(frame, CRSF_FRAMETYPE_GPS);
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