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wait for altitude offset to be applied before updating idleTask data

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This commit is contained in:
s0up 2018-06-18 14:43:35 -07:00
parent babebe32f2
commit 911c8e406c
3 changed files with 12 additions and 1 deletions
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7
src/main/flight/position.c
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@ -44,12 +44,13 @@ static int32_t estimatedAltitude = 0; // in cm
#if defined(USE_BARO) || defined(USE_GPS)
static bool altitudeOffsetSet = false;
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) {
@ -111,6 +112,10 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
}
#endif
bool isAltitudeOffset(void)
{
return altitudeOffsetSet;
}
int32_t getEstimatedAltitude(void)
{