From 3ed093ba593601be8ab344d3d68633436c0f93d3 Mon Sep 17 00:00:00 2001
From: alessandro <3762382+potaito@users.noreply.github.com>
Date: Fri, 4 May 2018 18:40:10 +0200
Subject: [PATCH] Add baro temperature to sensor voter observation (#9411)

When determining the confidence of a barometer sensor, we should
consider the temperature as well, alongside the pressure.
Low-noise baros can show the same pressure reading for a second
or two when not moving and in an indoor location.
---
 src/modules/sensors/voted_sensors_update.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index ba2fc8d333..d47a828fb5 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -831,7 +831,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
 			_baro_device_id[uorb_index] = baro_report.device_id;
 
 			got_update = true;
-			matrix::Vector3f vect(baro_report.pressure, 0.f, 0.f);
+			matrix::Vector3f vect(baro_report.pressure, baro_report.temperature, 0.f);
 
 			_last_airdata[uorb_index].timestamp = baro_report.timestamp;
 			_last_airdata[uorb_index].baro_temp_celcius = baro_report.temperature;