From b0b108baeef56272c1d013cffcdc63a39c21f7e1 Mon Sep 17 00:00:00 2001
From: Matteo Pignataro <matteo.pignataro@skywarder.eu>
Date: Fri, 30 Sep 2022 13:28:06 +0200
Subject: [PATCH] [Payload] Added barometric reference altitude in nas
calibration
---
.../Payload/StateMachines/NASController/NASController.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/src/boards/Payload/StateMachines/NASController/NASController.cpp b/src/boards/Payload/StateMachines/NASController/NASController.cpp
index 2ea33a82c..d5571e330 100644
--- a/src/boards/Payload/StateMachines/NASController/NASController.cpp
+++ b/src/boards/Payload/StateMachines/NASController/NASController.cpp
@@ -115,13 +115,17 @@ void NASController::calibrate()
ReferenceValues reference = nas.getReferenceValues();
reference.refPressure = pressure.getStats().mean;
+ // Set reference altitude using barometric measure
+ reference.refAltitude = Aeroutils::relAltitude(pressure.getStats().mean);
+
// If in this moment the GPS has fix i use that position as starting
UBXGPSData gps = Sensors::getInstance().getUbxGpsLastSample();
if (gps.fix != 0)
{
+ // We don't set the altitude with the GPS because of not precise
+ // measurements
reference.refLatitude = gps.latitude;
reference.refLongitude = gps.longitude;
- reference.refAltitude = gps.height;
}
// Update the algorithm reference values
--
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