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Fixed altitude calibration race condition #27

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Merged
JonnoGG merged 1 commit into from
Feb 15, 2026
Merged

Fixed altitude calibration race condition #27

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4 changes: 2 additions & 2 deletions firmware/src/sensors/baro_thread.c
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Original file line number Diff line number Diff line change
Expand Up @@ -415,10 +415,10 @@ static void baro_thread_fn(void *p1, void *p2, void *p3)
.nis = measurement_1.nis,
.faults = health_1.fault_count,
.healthy = health_1.healthy},
.altitude = st.ground_calibrated ? kf.h : 0.0f,
.altitude = kf.h,
.altitude_agl = st.ground_calibrated ? kf.h - st.ground_altitude : 0.0f,
.alt_variance = kf.P00,
.velocity = st.ground_calibrated ? kf.v : 0.0f,
.velocity = kf.v,
.vel_variance = kf.P11,
.timestamp = now_ms};

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1 change: 1 addition & 0 deletions firmware/src/state_machine/state_machine_config.h
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Expand Up @@ -2,6 +2,7 @@
#define STATE_MACHINE_CONFIG_H

// Standby baseline
#define GROUND_WARMUP_MS 2000 // Ignore baro samples for first 2s to let KF converge
#define GROUND_AVERAGE_SAMPLES 50 // At 50Hz = 1 second of data

// Ascent detection
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3 changes: 3 additions & 0 deletions firmware/src/state_machine/states/standby.c
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Expand Up @@ -10,6 +10,9 @@ LOG_MODULE_REGISTER(state_standby, LOG_LEVEL_DBG);
static flight_state_id_t update_standby(struct flight_sm *sm, const state_sample_t *sample)
{
if (!sm->ground_ready) {
if ((sample->timestamp_ms - sm->ground_warmup_start_ms) < GROUND_WARMUP_MS) {
return FLIGHT_STATE_STANDBY;
}
sm->ground_sum_m += sample->altitude_m;
sm->ground_samples++;
LOG_DBG("Ground calibration: %d/%d samples, current_alt=%.2f m, avg=%.2f m",
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