[Paparazzi-devel] Sonar and baro use

[Loic Drumettaz]

Hi again,
When using the sonar module, it appears that the baro still influence the altitude reading (baro_alt in ins.c). If i set the baro_sens to  around zero, then the altitude measured with the sonar is much more accurate (less noise). If i keep baro_sens=23, then the altitude reading is like using the baro alone, except that there is no drift. Is this the only benefit of using the sonar: to get rid of the baro drift?
Thx
Loic