Bug fix: absolute altitude before arming is now correct when using GP…

…S and Baro
betaflight · Mar 21, 2020 · 5209a83 · 5209a83
1 parent 9c3d460
commit 5209a83
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/main/flight/position.c b/src/main/flight/position.c
@@ -146,7 +146,11 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
 
 
     if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
-        estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
+        if (ARMING_FLAG(ARMED)) {
+            estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
+        } else {
+            estimatedAltitudeCm = gpsAlt; //absolute altitude is shown before arming, ignore baro
+        }
 #ifdef USE_VARIO
         // baro is a better source for vario, so ignore gpsVertSpeed
         estimatedVario = calculateEstimatedVario(baroAlt, dTime);