- option to reset baro altitude on arm / ALTITUDE_RESET_ON_ARM (http:…

…//www.multiwii.com/forum/viewtopic.php?f=8&t=5852#p60346)
wushifu32 · Jan 7, 2015 · 35e65de · 35e65de
1 parent 78a7f83
commit 35e65de
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diff --git a/MultiWii_shared/MultiWii.cpp b/MultiWii_shared/MultiWii.cpp
@@ -772,6  772,11 @@ void go_arm() {
       #if defined(VBAT)
         if (analog.vbat > NO_VBAT) vbatMin = analog.vbat;
       #endif
       #ifdef ALTITUDE_RESET_ON_ARM
         #if BARO
           calibratingB = 10; // calibrate baro to new ground level (10 * 25 ms = ~250 ms non blocking)
         #endif
       #endif
       #ifdef LCD_TELEMETRY // reset some values when arming
         #if BARO
           BAROaltMax = alt.EstAlt;

diff --git a/MultiWii_shared/config.h b/MultiWii_shared/config.h
@@ -548,6  548,10 @@ At this moment you can use this function only with WinGUI 2.3 release. MultiWiiC
 /*****************                                                                 ***************/
 /*************************************************************************************************/
 
   /************************        Reset Baro altitude on arm         ********************/
   /* When unchecked a calibration of the baro altitude is preformed every time arming is activated */
   //#define ALTITUDE_RESET_ON_ARM
 
   /************************        Angele throttle correction         ********************/
   /* Automatically increase throttle based on the angle of the copter
      Original idea by Kraut Rob, first implementation HAdrian */