From 9a0e0b8a8dd3f87cd64695047badb3118b36b1c8 Mon Sep 17 00:00:00 2001
From: Filipp Bakanov <filipp@bakanov.su>
Date: Sat, 29 Jan 2022 12:58:57 +0300
Subject: [PATCH] Fixed review

---
 src/main/config/config.c   | 10 ++++++++++
 src/main/flight/position.c |  4 ----
 2 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/src/main/config/config.c b/src/main/config/config.c
index f016fe4ee..97fc5cc17 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -54,6 +54,7 @@
 #include "flight/pid_init.h"
 #include "flight/rpm_filter.h"
 #include "flight/servos.h"
+#include "flight/position.h"
 
 #include "io/beeper.h"
 #include "io/gps.h"
@@ -201,6 +202,13 @@ static void validateAndFixRatesSettings(void)
     }
 }
 
+static void validateAndFixPositionConfig(void)
+{
+    if (positionConfig()->altNumSatsBaroFallback >= positionConfig()->altNumSatsGpsUse) {
+        PG_RESET(positionConfig);
+    }
+}
+
 static void validateAndFixConfig(void)
 {
 #if !defined(USE_QUAD_MIXER_ONLY)
@@ -586,6 +594,8 @@ static void validateAndFixConfig(void)
     // This should be done at the end of the validation
     targetValidateConfiguration();
 #endif
+
+    validateAndFixPositionConfig();
 }
 
 void validateAndFixGyroConfig(void)
diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index afedd52cb..7c14244f6 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -157,10 +157,6 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
     if (haveBaroAlt) {
         goodGpsSats = positionConfig()->altNumSatsGpsUse;
         badGpsSats = positionConfig()->altNumSatsBaroFallback;
-        if (badGpsSats >= goodGpsSats) {
-            badGpsSats = goodGpsSats - 1;
-            positionConfigMutable()->altNumSatsBaroFallback = badGpsSats;
-        }
     }
 
     if (ARMING_FLAG(ARMED)) {