From: Keith Packard <keithp@keithp.com>
Date: Wed, 9 Jan 2013 23:23:46 +0000 (-0800)
Subject: altoslib: Don't smash existing GPS pad alt after boost
X-Git-Tag: 1.1.9.3~8^2~12
X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=42733d2823b1ecf54c03881fc120067868c0ff4c;p=fw%2Faltos

altoslib: Don't smash existing GPS pad alt after boost

Leave the existing GPS pad altitude value in place after boost by
checking to see if it was ever computed before resetting it to the
barometric pad altitude. This makes GPS height values relative to the pad.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 218c598a..4f59c840 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -200,10 +200,10 @@ public class AltosState {
 				}
 				ngps++;
 			}
-		} else
-			pad_alt = ground_altitude;
-
-		data.new_gps = false;
+		} else {
+			if (ngps == 0)
+				pad_alt = ground_altitude;
+		}
 
 		gps_waiting = MIN_PAD_SAMPLES - npad;
 		if (gps_waiting < 0)