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iNavFlight
Nav altitude estimation changes
Closes https://github.com/iNavFlight/inav/issues/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.
Looks great. Has this already been tested with and without baro, or does that testing need to be done?
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.