From 6934bc908e08c287a2b9d558f19fd39ba4f6cc00 Mon Sep 17 00:00:00 2001
From: dawr68 <43827522+dawr68@users.noreply.github.com>
Date: Tue, 19 Aug 2025 14:28:13 +0200
Subject: [PATCH] airspeed calibration: save offset only when full procedure
 succeed (#25412)

* feat: save offset only when full procedure succeed

* feat: zero dpres off on all failures

* feat: remove unnecessary param_save_default calls
---
 .../commander/airspeed_calibration.cpp        | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index d013eb9e73..f68e9c807b 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -178,10 +178,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 						return PX4_ERROR;
 					}
 
-					/* save */
 					calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 0);
-					param_save_default(true);
-
 					feedback_calibration_failed(mavlink_log_pub);
 					return PX4_ERROR;
 				}
@@ -201,6 +198,14 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 		}
 
 		if (hrt_elapsed_time(&calibration_started) > 90_s) {
+			diff_pres_offset = 0.0f;
+
+			if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
+				calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG);
+				return PX4_ERROR;
+			}
+
+			calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 0);
 			feedback_calibration_failed(mavlink_log_pub);
 			return PX4_ERROR;
 		}
@@ -209,6 +214,14 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 	}
 
 	if (calibration_counter == maxcount) {
+		diff_pres_offset = 0.0f;
+
+		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
+			calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG);
+			return PX4_ERROR;
+		}
+
+		calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 0);
 		feedback_calibration_failed(mavlink_log_pub);
 		return PX4_ERROR;
 	}