merged upstream/master into sbus2_sensorssbus2_sensors

1 files changed, 17 insertions, 15 deletions

diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c
index 13328edb4..a36a4688d 100644
--- a/src/modules/position_estimator_inav/inertial_filter.c
+++ b/src/modules/position_estimator_inav/inertial_filter.c
@@ -5,27 +5,29 @@
  *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
  */
 
+#include <math.h>
+
 #include "inertial_filter.h"
 
-void inertial_filter_predict(float dt, float x[3])
+void inertial_filter_predict(float dt, float x[2], float acc)
 {
-	x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
-	x[1] += x[2] * dt;
+	if (isfinite(dt)) {
+		if (!isfinite(acc)) {
+			acc = 0.0f;
+		}
+		x[0] += x[1] * dt + acc * dt * dt / 2.0f;
+		x[1] += acc * dt;
+	}
 }
 
-void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
+void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
 {
-	float ewdt = w * dt;
-	if (ewdt > 1.0f)
-		ewdt = 1.0f;	// prevent over-correcting
-	ewdt *= e;
-	x[i] += ewdt;
-
-	if (i == 0) {
-		x[1] += w * ewdt;
-		x[2] += w * w * ewdt / 3.0;
+	if (isfinite(e) && isfinite(w) && isfinite(dt)) {
+		float ewdt = e * w * dt;
+		x[i] += ewdt;
 
-	} else if (i == 1) {
-		x[2] += w * ewdt;
+		if (i == 0) {
+			x[1] += w * ewdt;
+		}
 	}
 }