From 6ed8b2aad90aff79eade5f7375ceb8f6f50d0fa4 Mon Sep 17 00:00:00 2001
From: Jaaaky <43599380+Jaaaky@users.noreply.github.com>
Date: Thu, 2 May 2019 11:56:41 +0300
Subject: [PATCH] AP_Baro: Fix not healthy by watchdog reset

---
 libraries/AP_Baro/AP_Baro.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 007873f40e..9bde67d04c 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -183,6 +183,12 @@ AP_Baro::AP_Baro()
 // the altitude() or climb_rate() interfaces can be used
 void AP_Baro::calibrate(bool save)
 {
+    // start by assuming all sensors are calibrated (for healthy() test)
+    for (uint8_t i=0; i<_num_sensors; i++) {
+        sensors[i].calibrated = true;
+        sensors[i].alt_ok = true;
+    }
+
     if (hal.util->was_watchdog_reset()) {
         gcs().send_text(MAV_SEVERITY_INFO, "Baro: skipping calibration");
         return;
@@ -193,12 +199,6 @@ void AP_Baro::calibrate(bool save)
     // offset is supposed to be for within a flight
     _alt_offset.set_and_save(0);
 
-    // start by assuming all sensors are calibrated (for healthy() test)
-    for (uint8_t i=0; i<_num_sensors; i++) {
-        sensors[i].calibrated = true;
-        sensors[i].alt_ok = true;
-    }
-
     // let the barometer settle for a full second after startup
     // the MS5611 reads quite a long way off for the first second,
     // leading to about 1m of error if we don't wait