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EKF: Fix baro height offset bug

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This commit is contained in:
Paul Riseborough
2016-03-14 15:51:15 +11:00
parent 4bd79c9e5d
commit 63b0cf4360
1 changed files with 6 additions and 2 deletions
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EKF/ekf.cpp
+6 -2
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@@ -398,8 +398,12 @@ bool Ekf::initialiseFilter(void)
// if we are not using the baro height as the primary source, then calculate an offset relative to the origin
// so it can be used as a backup
baroSample baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt;
if (_params.vdist_sensor_type != VDIST_SENSOR_BARO) {
baroSample baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt - _hgt_at_alignment;
} else {
_baro_hgt_offset = 0.0f;
}
// set the velocity to the GPS measurement (by definition, the initial position and height is at the origin)
resetVelocity();