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

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