Fix for dynamic / static part of calibration

1 files changed, 3 insertions, 16 deletions

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 529a5b32f..01db34be2 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -121,19 +121,6 @@ int do_airspeed_calibration(int mavlink_fd)
 		if (poll_ret) {
 			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
 
-			if (calc_indicated_airspeed(fabsf(diff_pres.differential_pressure_raw_pa)) < 10.0f) {
-				mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot");
-				usleep(5000 * 1000);
-				continue;
-			}
-
-			/* do not log negative values in the second go */
-			if ((diff_pres_offset / calibration_counter) < calc_indicated_airspeed(-5.0f)) {
-				mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
-				close(diff_pres_sub);
-				return ERROR;
-			}
-
 			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
 			calibration_counter++;
 
@@ -197,16 +184,16 @@ int do_airspeed_calibration(int mavlink_fd)
 			diff_pres_offset += diff_pres.differential_pressure_raw_pa;
 			calibration_counter++;
 
-			float curr_avg = (diff_pres_offset / calibration_counter);
+			float curr_avg_airspeed = calc_indicated_airspeed(diff_pres_offset / calibration_counter);
 
-			if (calc_indicated_airspeed(fabsf(curr_avg)) < 10.0f) {
+			if (fabsf(curr_avg) < 10.0f) {
 				mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot (%.1f m/s)", (double)curr_avg);
 				usleep(5000 * 1000);
 				continue;
 			}
 
 			/* do not log negative values in the second go */
-			if (curr_avg < -calc_indicated_airspeed(5.0f)) {
+			if (curr_avg_airspeed < -calc_indicated_airspeed(5.0f)) {
 				mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
 				close(diff_pres_sub);