From: Keith Packard <keithp@keithp.com>
Date: Thu, 13 Feb 2020 23:36:57 +0000 (-0800)
Subject: altoslib: Report raw baro height instead of kalman filtered value
X-Git-Tag: android-26~6
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=305e7852f764e6a06024a9d57b5766d2f8a056ee

altoslib: Report raw baro height instead of kalman filtered value

Report raw sensor values to the user during flight.

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

diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 712f8e19..eea7a9c6 100644
--- 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();
 	}