From d5d50d585592b43f1e0db38c10f248411b144371 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 17 Feb 2022 21:53:59 -0500
Subject: [PATCH] gyro_calibration: add additional validity check before
 finalizing calibrations

 - this can slip through if sensors are running normally, but then stop publishing valid data
---
 src/modules/gyro_calibration/GyroCalibration.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/gyro_calibration/GyroCalibration.cpp b/src/modules/gyro_calibration/GyroCalibration.cpp
index a865cc86f5..d85cf11d38 100644
--- a/src/modules/gyro_calibration/GyroCalibration.cpp
+++ b/src/modules/gyro_calibration/GyroCalibration.cpp
@@ -232,7 +232,7 @@ void GyroCalibration::Run()
 		bool calibration_updated = false;
 
 		for (int gyro = 0; gyro < _sensor_gyro_subs.size(); gyro++) {
-			if (_gyro_calibration[gyro].device_id() != 0) {
+			if (_gyro_calibration[gyro].device_id() != 0 && _gyro_mean[gyro].valid()) {
 
 				// check variance again before saving
 				if (_gyro_mean[gyro].variance().longerThan(0.001f)) {