Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Nav altitude estimation changes #10041

Merged
merged 1 commit into from
May 21, 2024

Conversation

breadoven
Copy link
Collaborator

Closes #10040.

Removes setting inav_use_gps_no_baro since it now appears redundant after recent changes to the nav altitude estimation code.

This will allow multirotors to use some Nav modes without a Baro so it would be up to the pilot to decide if that is acceptable or not.

@DzikuVx
Copy link
Member

DzikuVx commented May 15, 2024

Less is more! Let's drop it

@DzikuVx DzikuVx added this to the 8.0 milestone May 15, 2024
@sensei-hacker
Copy link
Collaborator

Looks great. Has this already been tested with and without baro, or does that testing need to be done?

@breadoven
Copy link
Collaborator Author

breadoven commented May 15, 2024

Looks great. Has this already been tested with and without baro, or does that testing need to be done?

Well I tested fixed wing and a quad recently which I realise now would have been without a Baro. The fixed wing was supposed to be a back to back WP mission test with the Baro disabled for one of the runs. There was little difference between the runs ... now I know why. I almost didn't try the quad with a WP mission because Poshold beforehand was drifting so badly up and down. However, the mission ran OK, nothing obviously wrong with the altitude control. It even did an emergency landing after which I'm surprised worked as well as it did, slowing down from 5m/s to 1m/s just before landing, given it must have been doing this just using GPS altitude.

I tested this change in HITL and it behaved as it should including with the GPS disabled.

@breadoven breadoven merged commit 9ee93ce into iNavFlight:master May 21, 2024
15 checks passed
@breadoven breadoven deleted the abo_altitude_baro_fix branch May 23, 2024 10:20
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

Successfully merging this pull request may close these issues.

inav_use_gps_no_baro testing and code review indicates erroneous description?
3 participants