return to prev climb rate calc

ArduCopter/ArduCopter.pde

@@ -1244,13 +1244,20 @@ static void update_altitude()
 
 	#else
 		// This is real life
+
+		// read in Actual Baro Altitude
+		baro_alt 			= (baro_alt + read_barometer()) >> 1;
+
 		// calc the vertical accel rate
+		#if CLIMB_RATE_BARO = 1
 		int temp_baro_alt	= (barometer._offset_press - barometer.RawPress) << 1; // invert and scale
 		baro_rate 			= (temp_baro_alt - old_baro_alt) * 10;
 		old_baro_alt		= temp_baro_alt;
 
-		// read in Actual Baro Altitude
-		baro_alt 			= (baro_alt + read_barometer()) >> 1;
+		#else
+		baro_rate 			= (baro_alt - old_baro_alt) * 10;
+		old_baro_alt		= baro_alt;
+		#endif
 
 		// sonar_alt is calculaed in a faster loop and filtered with a mode filter
 	#endif