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Cleaned up the output of the altitude estimation.

This commit is contained in:
mikeller 2020-05-31 13:56:27 +12:00
parent 6bada9c5e9
commit 88e8842a17
4 changed files with 4 additions and 37 deletions
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4
src/main/msp/msp.c
View File

@ -1189,11 +1189,7 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
break; break;
case MSP_ALTITUDE: case MSP_ALTITUDE:
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
sbufWriteU32(dst, getEstimatedAltitudeCm()); sbufWriteU32(dst, getEstimatedAltitudeCm());
#else
sbufWriteU32(dst, 0);
#endif
#ifdef USE_VARIO #ifdef USE_VARIO
sbufWriteU16(dst, getEstimatedVario()); sbufWriteU16(dst, getEstimatedVario());
#else #else

5
src/main/telemetry/hott.c
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@ -237,10 +237,7 @@ void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage)
hottGPSMessage->home_distance_L = GPS_distanceToHome & 0x00FF; hottGPSMessage->home_distance_L = GPS_distanceToHome & 0x00FF;
hottGPSMessage->home_distance_H = GPS_distanceToHome >> 8; hottGPSMessage->home_distance_H = GPS_distanceToHome >> 8;
int32_t altitudeM = gpsSol.llh.altCm / 100; int32_t altitudeM = getEstimatedAltitudeCm() / 100;
if (!STATE(GPS_FIX)) {
altitudeM = getEstimatedAltitudeCm() / 100;
}
const uint16_t hottGpsAltitude = constrain(altitudeM + HOTT_GPS_ALTITUDE_OFFSET, 0 , UINT16_MAX); // gpsSol.llh.alt in m ; offset = 500 -> O m const uint16_t hottGpsAltitude = constrain(altitudeM + HOTT_GPS_ALTITUDE_OFFSET, 0 , UINT16_MAX); // gpsSol.llh.alt in m ; offset = 500 -> O m

7
src/main/telemetry/ltm.c
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@ -146,12 +146,7 @@ static void ltm_gframe(void)
ltm_serialise_32(gpsSol.llh.lat); ltm_serialise_32(gpsSol.llh.lat);
ltm_serialise_32(gpsSol.llh.lon); ltm_serialise_32(gpsSol.llh.lon);
ltm_serialise_8((uint8_t)(gpsSol.groundSpeed / 100)); ltm_serialise_8((uint8_t)(gpsSol.groundSpeed / 100));
ltm_alt = getEstimatedAltitudeCm();
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
ltm_alt = (sensors(SENSOR_RANGEFINDER) || sensors(SENSOR_BARO)) ? getEstimatedAltitudeCm() : gpsSol.llh.altCm;
#else
ltm_alt = gpsSol.llh.altCm;
#endif
ltm_serialise_32(ltm_alt); ltm_serialise_32(ltm_alt);
ltm_serialise_8((gpsSol.numSat << 2) | gps_fix_type); ltm_serialise_8((gpsSol.numSat << 2) | gps_fix_type);
ltm_finalise(); ltm_finalise();

25
src/main/telemetry/mavlink.c
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@ -353,11 +353,7 @@ void mavlinkSendPosition(void)
// alt Altitude in 1E3 meters (millimeters) above MSL // alt Altitude in 1E3 meters (millimeters) above MSL
gpsSol.llh.altCm * 10, gpsSol.llh.altCm * 10,
// relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters) // relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
#if defined(USE_BARO) || defined(USE_RANGEFINDER) getEstimatedAltitudeCm() * 10,
(sensors(SENSOR_RANGEFINDER) || sensors(SENSOR_BARO)) ? getEstimatedAltitudeCm() * 10 : gpsSol.llh.altCm * 10,
#else
gpsSol.llh.altCm * 10,
#endif
// Ground X Speed (Latitude), expressed as m/s * 100 // Ground X Speed (Latitude), expressed as m/s * 100
0, 0,
// Ground Y Speed (Longitude), expressed as m/s * 100 // Ground Y Speed (Longitude), expressed as m/s * 100
@ -419,24 +415,7 @@ void mavlinkSendHUDAndHeartbeat(void)
} }
#endif #endif
// select best source for altitude mavAltitude = getEstimatedAltitudeCm() / 100.0;
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
if (sensors(SENSOR_RANGEFINDER) || sensors(SENSOR_BARO)) {
// Baro or sonar generally is a better estimate of altitude than GPS MSL altitude
mavAltitude = getEstimatedAltitudeCm() / 100.0;
}
#if defined(USE_GPS)
else if (sensors(SENSOR_GPS)) {
// No sonar or baro, just display altitude above MLS
mavAltitude = gpsSol.llh.altCm / 100.0;
}
#endif
#elif defined(USE_GPS)
if (sensors(SENSOR_GPS)) {
// No sonar or baro, just display altitude above MLS
mavAltitude = gpsSol.llh.altCm / 100.0;
}
#endif
mavlink_msg_vfr_hud_pack(0, 200, &mavMsg, mavlink_msg_vfr_hud_pack(0, 200, &mavMsg,
// airspeed Current airspeed in m/s // airspeed Current airspeed in m/s