CHANGELOG.md

@@ -50,6 +50,7 @@ will consitute of a breaking change warranting a new major release:
   without an additional PCDU power switch command.
 - The PLOC Supervisor handler now waits for the replies to the `SET_TIME` command to verify working
   communication.
+- Fixed correction for `GPS Altitude` in case the sensor data is out of the expected bonds.
 
 # [v2.0.5] 2023-05-11
 

mission/controller/acs/SensorProcessing.cpp

@@ -573,7 +573,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
 
     // Altitude FDIR
     if (gpsAltitude > gpsParameters->maximumFdirAltitude ||
-        gpsAltitude < gpsParameters->maximumFdirAltitude) {
+        gpsAltitude < gpsParameters->minimumFdirAltitude) {
       altitude = gpsParameters->fdirAltitude;
     } else {
       altitude = gpsAltitude;