From 5209a83e6a46ea5640992d2ae0f8e31887c39e9e Mon Sep 17 00:00:00 2001
From: Tony Cabello <tcabello@blitworks.com>
Date: Sun, 15 Mar 2020 14:13:55 +0100
Subject: [PATCH] Bug fix: absolute altitude before arming is now correct when
 using GPS and Baro

---
 src/main/flight/position.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index a21ba9660..daa3e1e12 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -146,7 +146,11 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
 
 
     if (haveGpsAlt && haveBaroAlt && positionConfig()->altSource == DEFAULT) {
-        estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
+        if (ARMING_FLAG(ARMED)) {
+            estimatedAltitudeCm = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);
+        } else {
+            estimatedAltitudeCm = gpsAlt; //absolute altitude is shown before arming, ignore baro
+        }
 #ifdef USE_VARIO
         // baro is a better source for vario, so ignore gpsVertSpeed
         estimatedVario = calculateEstimatedVario(baroAlt, dTime);