altoslib: Report raw baro height instead of kalman filtered value

[fw/altos] / altoslib / AltosState.java

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 712f8e19dd4e566c11c0628b8c6175b323b4583b..eea7a9c6760c1bfd4acd7cd86aa0c63c334c66f7 100644 (file)
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -513,26 +513,27 @@ public class AltosState extends AltosDataListener {
        }
 
        public double height() {
-               double k = kalman_height.value();
-               if (k != AltosLib.MISSING)
-                       return k;
-
                double b = baro_height();
                if (b != AltosLib.MISSING)
                        return b;
 
+               double k = kalman_height.value();
+               if (k != AltosLib.MISSING)
+                       return k;
+
                return gps_height();
        }
 
        public double max_height() {
-               double  k = kalman_height.max();
-               if (k != AltosLib.MISSING)
-                       return k;
-
                double a = altitude.max();
                double g = ground_altitude();
                if (a != AltosLib.MISSING && g != AltosLib.MISSING)
                        return a - g;
+
+               double  k = kalman_height.max();
+               if (k != AltosLib.MISSING)
+                       return k;
+
                return max_gps_height();
        }