From 9cf36c553c9313de09605e3a29869ba771262269 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 21 Jul 2012 16:44:42 -0700
Subject: [PATCH] ACM: Fixed Baro rate patch to work with Sonar and added
 simple filter

---
 ArduCopter/ArduCopter.pde | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index df78810cf0..d6757e753c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2113,10 +2113,18 @@ static void update_altitude()
 		baro_alt 			= read_barometer();
 
 		// calc the vertical accel rate
+		/*
+		// 2.6 way
 		int temp			= (baro_alt - old_baro_alt) * 10;
 		baro_rate 			= (temp + baro_rate) >> 1;
 		baro_rate			= constrain(baro_rate, -300, 300);
 		old_baro_alt		= baro_alt;
+		*/
+
+		// Using Tridge's new clamb rate calc
+		int temp			= barometer.get_climb_rate() * 100;
+		baro_rate 			= (temp + baro_rate) >> 1;
+		baro_rate			= constrain(baro_rate, -300, 300);
 		#endif
 
 		// Note: sonar_alt is calculated in a faster loop and filtered with a mode filter
@@ -2160,9 +2168,7 @@ static void update_altitude()
 			current_loc.alt = baro_alt;
 			// dont blend, go straight baro
 
-			//climb_rate_actual 	= baro_rate;
-			// Tridge's cool Baro patch
-			climb_rate_actual = barometer.get_climb_rate() * 100;
+			climb_rate_actual 	= baro_rate;
 		}
 
 	}else{