Plane: reset baro drift when setting home while disarmed

9 years ago · 4a6dd5a781
1 changed files with 3 additions and 0 deletions
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@ -472,6 +472,9 @@ void Plane::update_GPS_10Hz(void)
				@@ -472,6 +472,9 @@ void Plane::update_GPS_10Hz(void)

        if (!hal.util->get_soft_armed()) {
            update_home();
+
+            // zero out any baro drift
+            barometer.set_baro_drift_altitude(0);
        }

        // update wind estimate