safety check in altitude code
Make sure altitude is in expected range
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@ -270,7 +270,7 @@ void calculateEstimatedAltitude(uint32_t currentTime)
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BaroAlt = sonarAlt;
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BaroAlt = sonarAlt;
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} else {
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} else {
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BaroAlt -= baroAlt_offset;
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BaroAlt -= baroAlt_offset;
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if (sonarAlt > 0) {
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if (sonarAlt > 0 && sonarAlt <= 300) {
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sonarTransition = (300 - sonarAlt) / 100.0f;
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sonarTransition = (300 - sonarAlt) / 100.0f;
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BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
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BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
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}
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}
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