[fix] if no baro and no kalman, get vz from gps

2026-06-05 06:54:49 +08:00 · 2013-10-15 18:46:41 +02:00
parent 8f13aef998
commit ce84749114
1 changed files with 3 additions and 0 deletions
@@ -140,6 +140,9 @@ void ins_update_gps(void) {
 #if !USE_BAROMETER
  float falt = gps.hmsl / 1000.;
  EstimatorSetAlt(falt);
+  if (!alt_kalman_enabled) {
+    ins_alt_dot = -gps.ned_vel.z / 100.;
+  }
 #endif
  utm.alt = ins_alt;
  // set position