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AP_Airspeed: Allow setting of use-zero-offset in parameters #18617

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merged 1 commit into from Sep 15, 2021
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AP_Airspeed: Allow setting of use-zero-offset in parameters #18617

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3 changes: 2 additions & 1 deletion libraries/AP_Airspeed/AP_Airspeed.h
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Expand Up @@ -123,7 +123,8 @@ class AP_Airspeed
bool healthy(uint8_t i) const {
bool ok = state[i].healthy && enabled(i);
#ifndef HAL_BUILD_AP_PERIPH
ok &= (fabsf(param[i].offset) > 0 || state[i].use_zero_offset);
// sanity check the offset parameter. Zero is permitted if we are skipping calibration.
ok &= (fabsf(param[i].offset) > 0 || state[i].use_zero_offset || param[i].skip_cal);
#endif
return ok;
}
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