From 8a9869b4fd695ffe5a8e3ff6171ab0623d3fe87d Mon Sep 17 00:00:00 2001
From: s0up <mike@haxt.net>
Date: Thu, 7 Jun 2018 08:53:28 -0700
Subject: [PATCH 1/4] always set offset when not armed.  OSD should never show
 > 0 values when not armed

---
 src/main/flight/position.c | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index 8d510e7f1..758acc206 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -49,7 +49,6 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
     static timeUs_t previousTimeUs = 0;
     static int32_t baroAltOffset = 0;
     static int32_t gpsAltOffset = 0;
-    static bool altitudeOffsetSet = false;
 
     const uint32_t dTime = currentTimeUs - previousTimeUs;
     if (dTime < BARO_UPDATE_FREQUENCY_40HZ) {
@@ -87,13 +86,11 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
 }
 #endif
 
-    if (ARMING_FLAG(ARMED) && !altitudeOffsetSet) {
+    if (!ARMING_FLAG(ARMED)) {
         baroAltOffset = baroAlt;
         gpsAltOffset = gpsAlt;
-        altitudeOffsetSet = true;
-    } else if (!ARMING_FLAG(ARMED) && altitudeOffsetSet) {
-        altitudeOffsetSet = false;
     }
+
     baroAlt -= baroAltOffset;
     gpsAlt -= gpsAltOffset;
     

From 96692af0f8895f3aa3490346ab6be8d94cbdb3f7 Mon Sep 17 00:00:00 2001
From: s0up <mike@haxt.net>
Date: Thu, 7 Jun 2018 13:24:42 -0700
Subject: [PATCH 2/4] dont allow idle tasks to run when disarmed, allow
 altitude to be absolute on the bench vs relative when flying

---
 src/main/flight/gps_rescue.c | 5 +++++
 src/main/flight/position.c   | 6 +++---
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c
index 0db7c749d..5d6fa1e03 100644
--- a/src/main/flight/gps_rescue.c
+++ b/src/main/flight/gps_rescue.c
@@ -293,6 +293,11 @@ void rescueStop()
 // Things that need to run regardless of GPS rescue mode being enabled or not
 void idleTasks()
 {
+    // Do not calculate any of the idle task values when we are not flying
+    if (!ARMING_FLAG(ARMED)) {
+        return;
+    }
+
     gpsRescueAngle[AI_PITCH] = 0;
     gpsRescueAngle[AI_ROLL] = 0;
 
diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index 758acc206..a9b52962d 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -89,10 +89,10 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
     if (!ARMING_FLAG(ARMED)) {
         baroAltOffset = baroAlt;
         gpsAltOffset = gpsAlt;
+    } else { 
+        baroAlt -= baroAltOffset;
+        gpsAlt -= gpsAltOffset;
     }
-
-    baroAlt -= baroAltOffset;
-    gpsAlt -= gpsAltOffset;
     
     if (haveGpsAlt && haveBaroAlt) {
         estimatedAltitude = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);

From 1b1837905c86aa8131d257d1a2ea4239ff01f2ba Mon Sep 17 00:00:00 2001
From: s0up <mike@haxt.net>
Date: Thu, 7 Jun 2018 13:34:12 -0700
Subject: [PATCH 3/4] revert position.c changes

---
 src/main/flight/position.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index a9b52962d..ced9daff3 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -86,13 +86,15 @@ if (sensors(SENSOR_GPS) && STATE(GPS_FIX)) {
 }
 #endif
 
-    if (!ARMING_FLAG(ARMED)) {
+    if (ARMING_FLAG(ARMED) && !altitudeOffsetSet) {
         baroAltOffset = baroAlt;
         gpsAltOffset = gpsAlt;
-    } else { 
-        baroAlt -= baroAltOffset;
-        gpsAlt -= gpsAltOffset;
+        altitudeOffsetSet = true;
+    } else if (!ARMING_FLAG(ARMED) && altitudeOffsetSet) {
+        altitudeOffsetSet = false;
     }
+    baroAlt -= baroAltOffset;
+    gpsAlt -= gpsAltOffset;
     
     if (haveGpsAlt && haveBaroAlt) {
         estimatedAltitude = gpsAlt * gpsTrust + baroAlt * (1 - gpsTrust);

From b240d745d754eaff2ee8843fc6719223f0ff8e68 Mon Sep 17 00:00:00 2001
From: s0up <mike@haxt.net>
Date: Thu, 7 Jun 2018 13:35:00 -0700
Subject: [PATCH 4/4] more reverting

---
 src/main/flight/position.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/flight/position.c b/src/main/flight/position.c
index ced9daff3..8d510e7f1 100644
--- a/src/main/flight/position.c
+++ b/src/main/flight/position.c
@@ -49,6 +49,7 @@ void calculateEstimatedAltitude(timeUs_t currentTimeUs)
     static timeUs_t previousTimeUs = 0;
     static int32_t baroAltOffset = 0;
     static int32_t gpsAltOffset = 0;
+    static bool altitudeOffsetSet = false;
 
     const uint32_t dTime = currentTimeUs - previousTimeUs;
     if (dTime < BARO_UPDATE_FREQUENCY_40HZ) {