gpsData.hAcc determine which altitude estimate to use ?

[EX_TRUE]

Greetings:
In run.c, AQ determine which altitude to use by gpshacc, is it proper ?
During flight, gps hacc may change, which means that rundata.altpos can change between alt_pos and UKF_ALTITUDE(USE_PRES_ALT).
Yet, there may be difference between them, this can cause a sudden drop or rise on flying.
It is not reasonable.

Code: Select all

       
// determine which altitude estimate to use
        if (gpsData.hAcc > 0.8f) {
            runData.altPos = &ALT_POS;
            runData.altVel = &ALT_VEL;
        }
        else {
            runData.altPos = &UKF_ALTITUDE;
            runData.altVel = &UKF_VELD;
        }


Thanks

[Bookernub]

If it is plg and play you can use the origonal just may need calibrating