From beddb3969ea4b45bf9e5e7184c3331ff0a0d53a3 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Wed, 23 Nov 2022 12:54:56 +0100
Subject: [PATCH] GyroCalibration: update sensor correction before using it

Otherwise, the thermal offset value can be outdated
---
 src/modules/gyro_calibration/GyroCalibration.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/gyro_calibration/GyroCalibration.cpp b/src/modules/gyro_calibration/GyroCalibration.cpp
index 51cb743628..279284c554 100644
--- a/src/modules/gyro_calibration/GyroCalibration.cpp
+++ b/src/modules/gyro_calibration/GyroCalibration.cpp
@@ -153,6 +153,7 @@ void GyroCalibration::Run()
 			}
 
 			if (_gyro_calibration[gyro].device_id() == sensor_gyro.device_id) {
+				_gyro_calibration[gyro].SensorCorrectionsUpdate();
 				const Vector3f val{Vector3f{sensor_gyro.x, sensor_gyro.y, sensor_gyro.z} - _gyro_calibration[gyro].thermal_offset()};
 				_gyro_mean[gyro].update(val);
 				_gyro_last_update[gyro] = sensor_gyro.timestamp;