gpsData.hAcc determine which altitude estimate to use ?

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gpsData.hAcc determine which altitude estimate to use ?

Postby EX_TRUE » Tue Feb 16, 2016 8:48 am

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
EX_TRUE
 
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