From 6d7dc847d1ca7bfe0b449ca7f999d0019cc7d4e1 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 16 Dec 2017 12:04:41 +1100
Subject: [PATCH] simulator: Use baro pressure direct from simulator

---
 src/modules/simulator/simulator_mavlink.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 35ee2f6afcf5..72bd342539c3 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -245,8 +245,10 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
 	perf_begin(_perf_mag);
 
 	RawBaroData baro = {};
-	// calculate air pressure from altitude (valid for low altitude)
-	baro.pressure = (PRESS_GROUND - CONSTANTS_ONE_G * DENSITY * imu->pressure_alt) / 100.0f; // convert from Pa to mbar
+
+	// Get air pressure and pressure altitude
+	// valid for troposphere (below 11km AMSL)
+	baro.pressure = imu->abs_pressure;
 	baro.altitude = imu->pressure_alt;
 	baro.temperature = imu->temperature;