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[subsystem ins] only update vert filter with baro measurement when not realigning, did a wrong update in that case

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This commit is contained in:
Felix Ruess
2012-05-08 12:16:23 +02:00
parent 2669d8f4c1
commit 6988e2cc24
1 changed files with 5 additions and 3 deletions
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sw/airborne/subsystems/ins.c
+5 -3
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@@ -182,8 +182,6 @@ void ins_update_baro() {
ins_qfe = baro.absolute;
ins_baro_initialised = TRUE;
}
ins_baro_alt = ((baro.absolute - ins_qfe) * INS_BARO_SENS_NUM)/INS_BARO_SENS_DEN;
float alt_float = POS_FLOAT_OF_BFP(ins_baro_alt);
if (ins_vf_realign) {
ins_vf_realign = FALSE;
ins_qfe = baro.absolute;
@@ -198,7 +196,11 @@ void ins_update_baro() {
ins_enu_speed.z = -ins_ltp_speed.z;
ins_enu_accel.z = -ins_ltp_accel.z;
}
vff_update(alt_float);
else { /* not realigning, so normal update with baro measurement */
ins_baro_alt = ((baro.absolute - ins_qfe) * INS_BARO_SENS_NUM)/INS_BARO_SENS_DEN;
float alt_float = POS_FLOAT_OF_BFP(ins_baro_alt);
vff_update(alt_float);
}
}
#endif
}