From 305e7852f764e6a06024a9d57b5766d2f8a056ee Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 13 Feb 2020 15:36:57 -0800 Subject: [PATCH] altoslib: Report raw baro height instead of kalman filtered value Report raw sensor values to the user during flight. Signed-off-by: Keith Packard --- altoslib/AltosState.java | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) 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(); } -- 2.30.2