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BaroGlitch: check baro health after alt calculation

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Also correct type of distance_cm internal variable
This commit is contained in:
Randy Mackay 2014-08-14 15:57:47 +09:00
parent 424a65663a
commit fd5dee96e4
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_Baro/AP_Baro_Glitch.cpp
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@ -61,7 +61,7 @@ void Baro_Glitch::check_alt()
float sane_dt; // time since last sane baro reading
float accel_based_distance; // movement based on max acceleration
int32_t alt_projected; // altitude estimate projected from previous iteration
float distance_cm; // distance from baro alt to current alt estimate in cm
int32_t distance_cm; // distance from baro alt to current alt estimate in cm
bool all_ok; // true if the new baro alt passes sanity checks
// exit immediately if baro is unhealthy
@ -88,6 +88,14 @@ void Baro_Glitch::check_alt()
// calculate distance from recent baro alt to current estimate
int32_t baro_alt = _baro.get_altitude() * 100.0f;
// baro may have become unhealthy when calculating altitude
if (!_baro.healthy()) {
_flags.glitching = true;
return;
}
// calculte distance from projected distance
distance_cm = labs(alt_projected - baro_alt);
// all ok if within a given hardcoded radius