add new settings

breadoven · Sep 10, 2024 · d0b5dbe · d0b5dbe
1 parent ef2d9c1
commit d0b5dbe
Show file tree

Hide file tree

Showing 4 changed files with 9 additions and 7 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -1994,7 +1994,7 @@ Uncertainty value for barometric sensor [cm]
 
 ### inav_default_alt_sensor
 
-Sets the default altitude sensor to use, GPS or BARO, when the altitude error between the sensors exceeds a set limit. Only the default sensor will be used in this case. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv.
+Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use.
 
 | Default | Min | Max |
 | --- | --- | --- |

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -199,7 +199,7 @@ tables:
     values: ["NONE", "SERIAL", "MSP"]
     enum: headTrackerDevType_e
   - name: default_altitude_source
-    values: ["GPS", "BARO"]
+    values: ["GPS", "BARO", "GPS ONLY", "BARO ONLY"]
     enum: navDefaultAltitudeSensor_e
 
 constants:
@@ -2471,7 +2471,7 @@ groups:
         min: 0
         max: 9999
       - name: inav_default_alt_sensor
-        description: "Sets the default altitude sensor to use, GPS or BARO, when the altitude error between the sensors exceeds a set limit. Only the default sensor will be used in this case. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv."
+        description: "Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use."
         default_value: "GPS"
         field: default_alt_sensor
         table: default_altitude_source

diff --git a/src/main/navigation/navigation_pos_estimator.c b/src/main/navigation/navigation_pos_estimator.c
@@ -559,11 +559,11 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
     DEBUG_SET(DEBUG_ALTITUDE, 7, accGetClipCount());            // Clip count
 
     bool correctOK = false;
-    float wBaro = 1.0f;
-    float wGps = 1.0f;
+    const uint8_t defaultAltitudeSource = positionEstimationConfig()->default_alt_sensor;
+    float wGps = defaultAltitudeSource == ALTITUDE_SOURCE_BARO_ONLY && ctx->newFlags & EST_BARO_VALID ? 0.0f : 1.0f;
+    float wBaro = defaultAltitudeSource == ALTITUDE_SOURCE_GPS_ONLY && ctx->newFlags & EST_GPS_Z_VALID ? 0.0f : 1.0f;
 
-    if (ctx->newFlags & EST_BARO_VALID && ctx->newFlags & EST_GPS_Z_VALID) {
-        const uint8_t defaultAltitudeSource = positionEstimationConfig()->default_alt_sensor;
+    if (wBaro && ctx->newFlags & EST_BARO_VALID && wGps && ctx->newFlags & EST_GPS_Z_VALID) {
         const float gpsBaroResidual = fabsf(posEstimator.gps.pos.z - posEstimator.baro.alt);
 
         // Fade out the non default sensor to prevent sudden jump

diff --git a/src/main/navigation/navigation_pos_estimator_private.h b/src/main/navigation/navigation_pos_estimator_private.h
@@ -149,6 +149,8 @@ typedef enum {
 typedef enum {
     ALTITUDE_SOURCE_GPS,
     ALTITUDE_SOURCE_BARO,
+    ALTITUDE_SOURCE_GPS_ONLY,
+    ALTITUDE_SOURCE_BARO_ONLY,
 } navDefaultAltitudeSensor_e;
 
 typedef struct {