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fix to use ins_alt_dot with baro wen USE_BAROMETER is defined

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This commit is contained in:
Tobias Muench
2013-08-09 16:26:31 +02:00
parent d86f3d23cb
commit 732bdcde90
1 changed files with 5 additions and 1 deletions
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sw/airborne/subsystems/ins/ins_alt_float.c
+5 -1
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@@ -105,6 +105,10 @@ void ins_update_baro() {
UTM_COPY(utm, *stateGetPositionUtm_f());
utm.alt = ins_alt;
stateSetPositionUtm_f(&utm);
struct NedCoor_f ned_vel;
memcpy(&ned_vel, stateGetSpeedNed_f(), sizeof(struct NedCoor_f));
ned_vel.z = -ins_alt_dot;
stateSetSpeedNed_f(&ned_vel);
}
}
#endif
@@ -129,7 +133,7 @@ void ins_update_gps(void) {
struct NedCoor_f ned_vel = {
gps.ned_vel.x / 100.,
gps.ned_vel.y / 100.,
gps.ned_vel.z / 100.
-ins_alt_dot
};
// set velocity
stateSetSpeedNed_f(&ned_vel);