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Code Issues Releases Activity

Revert "Disable baro updates into INSGPS for now. Seems to cause issues."

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This reverts commit 04591309770679e7b01c53a6cb54cac1c043f8b6.
This commit is contained in:
James Cotton 2012-04-07 00:58:19 -05:00
parent fcb9193d25
commit 414e62f14e
1 changed files with 2 additions and 7 deletions
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9
flight/Modules/Attitude/revolution/attitude.c
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@ -673,18 +673,13 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
nedPos.Down = NED[2];
NEDPositionSet(&nedPos);
// Mask out baro sensor for outdoor mode. Causing issues right now.
sensors &= ~BARO_SENSOR;
} else if (!outdoor_mode) {
INSSetPosVelVar(1e2f, 1e2f);
vel[0] = vel[1] = vel[2] = 0;
NED[0] = NED[1] = 0;
NED[2] = baroData.Altitude;
sensors |= HORIZ_SENSORS | HORIZ_POS_SENSORS;
// Mask out baro sensor for indoor mode. Causing issues right now.
sensors &= ~BARO_SENSOR;
NED[2] = -baroData.Altitude;
sensors |= VER_POS_SENSORS;
sensors |= POS_SENSORS |VERT_SENSORS;
}
/*