[paparazzi-commits] [paparazzi/paparazzi] 7bc1df: Compensate baro for reference frame conversion (#1...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 7bc1df3d65d69298a15023e89fc12bcbbad207f9
      
https://github.com/paparazzi/paparazzi/commit/7bc1df3d65d69298a15023e89fc12bcbbad207f9
  Author: Ewoud Smeur <address@hidden>
  Date:   2016-12-05 (Mon, 05 Dec 2016)

  Changed paths:
    M sw/airborne/subsystems/ins/ins_int.c

  Log Message:
  -----------
  Compensate baro for reference frame conversion (#1861)

The barometer measures in the lla frame, but the INS is in the NED
frame. Conversion is therefore necessary.
Use a simple calculation using the earth's radius