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fix(sensors): restrict baro calibrations to ground

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Marco Hauswirth 2026-03-25 11:27:58 +01:00 committed by Marco Hauswirth
parent 63c77734f7
commit b82894143e
1 changed files with 8 additions and 4 deletions
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12
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
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@ -254,11 +254,15 @@ void VehicleAirData::Run()
}
}
if (!_relative_calibration_done) {
_relative_calibration_done = UpdateRelativeCalibrations(time_now_us);
estimator_status_flags_s latest_estimator_status_flags;
} else if (!_baro_gnss_calibration_done && _param_sens_baro_autocal.get()) {
_baro_gnss_calibration_done = BaroGNSSAltitudeOffset();
if (_estimator_status_flags_sub.copy(&latest_estimator_status_flags) && !latest_estimator_status_flags.cs_in_air) {
if (!_relative_calibration_done) {
_relative_calibration_done = UpdateRelativeCalibrations(time_now_us);
} else if (!_baro_gnss_calibration_done && _param_sens_baro_autocal.get() && latest_estimator_status_flags.cs_gps_hgt) {
_baro_gnss_calibration_done = BaroGNSSAltitudeOffset();
}
}
// Publish