- if (npad < NUM_PAD_SAMPLES) {
- pad_accel_total += state->accel;
- pad_pres_total += state->pres;
- if (state->locked) {
- pad_lat_total += state->lat;
- pad_lon_total += state->lon;
- pad_alt_total += state->alt;
- npad_gps++;
- }
- npad++;
- velocity = 0;
- }
- if (npad <= NUM_PAD_SAMPLES) {
- pad_pres = pad_pres_total / npad;
- pad_accel = pad_accel_total / npad;
- if (npad_gps) {
- pad_lat = pad_lat_total / npad_gps;
- pad_lon = pad_lon_total / npad_gps;
- pad_alt = pad_alt_total / npad_gps;
- }
+ if (state->locked && npad_gps < NUM_PAD_SAMPLES) {
+ pad_lat_total += state->lat;
+ pad_lon_total += state->lon;
+ pad_alt_total += state->alt;
+ npad_gps++;