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safety check in altitude code 

Make sure altitude is in expected range
This commit is contained in:
Petr Ledvina 2015-10-09 13:14:58 +02:00 committed by Dominic Clifton
parent b723f94c1f
commit fba2c3d5cc
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/altitudehold.c
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@ -270,7 +270,7 @@ void calculateEstimatedAltitude(uint32_t currentTime)
BaroAlt = sonarAlt;
} else {
BaroAlt -= baroAlt_offset;
if (sonarAlt > 0) {
if (sonarAlt > 0 && sonarAlt <= 300) {
sonarTransition = (300 - sonarAlt) / 100.0f;
BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
}