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always set offset when not armed. OSD should never show > 0 values when not armed

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This commit is contained in:
s0up 2018-06-07 08:53:28 -07:00
parent 7936fb07d5
commit 8a9869b4fd
1 changed files with 2 additions and 5 deletions
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7
src/main/flight/position.c
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@ -49,7 +49,6 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
static timeUs_t previousTimeUs = 0;
static int32_t baroAltOffset = 0;
static int32_t gpsAltOffset = 0;
static bool altitudeOffsetSet = false;
const uint32_t dTime = currentTimeUs - previousTimeUs;
if (dTime < BARO_UPDATE_FREQUENCY_40HZ) {
@ -87,13 +86,11 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
}
#endif
if (ARMING_FLAG(ARMED) && !altitudeOffsetSet) {
if (!ARMING_FLAG(ARMED)) {
baroAltOffset = baroAlt;
gpsAltOffset = gpsAlt;
altitudeOffsetSet = true;
} else if (!ARMING_FLAG(ARMED) && altitudeOffsetSet) {
altitudeOffsetSet = false;
}
baroAlt -= baroAltOffset;
gpsAlt -= gpsAltOffset;