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inav: check for updated baro in baro_offset calculation

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davidaroyer 2017-03-28 10:59:39 -05:00 committed by Lorenz Meier
parent 24380ae88c
commit 1302b6a796
1 changed files with 3 additions and 1 deletions
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4
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
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@ -424,7 +424,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.timestamp + sensor.baro_timestamp_relative != baro_timestamp) {
bool baro_updated = (sensor.baro_timestamp_relative != sensor.RELATIVE_TIMESTAMP_INVALID);
if (wait_baro && sensor.timestamp + sensor.baro_timestamp_relative != baro_timestamp && baro_updated) {
baro_timestamp = sensor.timestamp + sensor.baro_timestamp_relative;
baro_wait_for_sample_time = hrt_absolute_time();