From 487caea3a5f191d617a8fec76b377534c99a5db3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 5 Oct 2013 18:44:00 +1000
Subject: [PATCH] AP_Baro: added update_calibration() method

used for auto baro calibration when disarmed
---
 libraries/AP_Baro/AP_Baro.cpp | 11 +++++++++++
 libraries/AP_Baro/AP_Baro.h   |  4 ++++
 2 files changed, 15 insertions(+)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 10daf11fe4..9d00830af0 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -118,6 +118,17 @@ void AP_Baro::calibrate()
     _ground_temperature.set_and_save(ground_temperature);
 }
 
+/**
+   update the barometer calibration
+   this updates the baro ground calibration to the current values. It
+   can be used before arming to keep the baro well calibrated
+*/
+void AP_Baro::update_calibration()
+{
+    _ground_pressure.set(get_pressure());
+    _ground_temperature.set(get_temperature());
+}
+
 // return current altitude estimate relative to time that calibrate()
 // was called. Returns altitude in meters
 // note that this relies on read() being called regularly to get new data
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index eb62514a4d..7943d135af 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -33,6 +33,10 @@ public:
     // the callback is a delay() like routine
     void        calibrate();
 
+    // update the barometer calibration to the current pressure. Can
+    // be used for incremental preflight update of baro
+    void        update_calibration();
+
     // get current altitude in meters relative to altitude at the time
     // of the last calibrate() call
     float        get_altitude(void);