Fix minor glitches and improve GPS vertical speed precision

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/flight_state.hpp

@@ -39,8 +39,8 @@ void flight_init() {
     }
 
     baroset(gps.altitude.meters(), 1); 
-
-    get_baro(1); 
+    get_baro(1);
+    cmpt_fusion(); 
 
     b_vs.reset(); 
     b_al.reset(); 

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/gps.hpp

@@ -46,7 +46,7 @@ void get_gps() {
   }
 
   if (gps.altitude.isUpdated()) {
-    cmpt_vertical_speed_gps(gps.altitude.meters()-prev_alt_gps, millis()-gpsB);
+    cmpt_vertical_speed_gps(gps.altitude.meters()-prev_alt_gps, (millis()-gps.altitude.age())-gpsB);
     gpsB = millis(); 
     prev_alt_gps = gps.altitude.meters(); 
     new_gps = true; 

RLS_V1.0/R2Home_SOFTWARE_V1.01/R2Home_OBC_V1.04/main/main.ino

@@ -92,7 +92,9 @@ void datacmpt() {
 
   cmpt_flight_state(); 
   cmpt_data_rate(flight_mode); 
-  cmpt_fusion(); 
+  if (initialised) {
+    cmpt_fusion(); 
+  }
   cmpt_vertical_state(); 
 
   if ((millis()-sd)>=delaySD) {