add missing haveGpsAlt and haveBaroAlt checks

simplify conditions
betaflight · Apr 30, 2019 · bd5b73d · bd5b73d
1 parent fe4c3ac
commit bd5b73d
Showing 1 changed file with 9 additions and 22 deletions.
diff --git a/src/main/flight/position.c b/src/main/flight/position.c
@@ -144,38 +144,25 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
     baroAlt -= baroAltOffset;
     gpsAlt -= gpsAltOffset;
 
-    if(positionConfig()->altSource == BARO_ONLY){
-        estimatedAltitudeCm = baroAlt;
+
+    if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
+        estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
 #ifdef USE_VARIO
+        // baro is a better source for vario, so ignore gpsVertSpeed
         estimatedVario = calculateEstimatedVario(baroAlt, dTime);
 #endif
-    }
-    else if (positionConfig()->altSource == GPS_ONLY){
+    } else if (haveGpsAlt && (positionConfig()->altSource == GPS_ONLY || positionConfig()->altSource == DEFAULT )) {
         estimatedAltitudeCm = gpsAlt;
 #if defined(USE_VARIO) && defined(USE_GPS)
         estimatedVario = gpsVertSpeed;
 #endif
-    }
-    else {
-        if (haveGpsAlt && haveBaroAlt) {
-                estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
-#ifdef USE_VARIO
-                // baro is a better source for vario, so ignore gpsVertSpeed
-                estimatedVario = calculateEstimatedVario(baroAlt, dTime);
-#endif
-            } else if (haveGpsAlt) {
-                estimatedAltitudeCm = gpsAlt;
-#if defined(USE_VARIO) && defined(USE_GPS)
-                estimatedVario = gpsVertSpeed;
-#endif
-            } else if (haveBaroAlt) {
-                estimatedAltitudeCm = baroAlt;
+    } else if (haveBaroAlt && (positionConfig()->altSource == BARO_ONLY || positionConfig()->altSource == DEFAULT)) {
+        estimatedAltitudeCm = baroAlt;
 #ifdef USE_VARIO
-                estimatedVario = calculateEstimatedVario(baroAlt, dTime);
+        estimatedVario = calculateEstimatedVario(baroAlt, dTime);
 #endif
-            }
     }
-
+    
 
 
     DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust));