position_estimator_inav: accelerometer bias estimation for Z, default weights for GPS updated

1 files changed, 2 insertions, 0 deletions

diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h
index cca172b5d..1e70a3c48 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.h
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h
@@ -49,6 +49,7 @@ struct position_estimator_inav_params {
 	float w_pos_gps_v;
 	float w_pos_acc;
 	float w_pos_flow;
+	float w_acc_bias;
 	float flow_k;
 	float sonar_filt;
 	float sonar_err;
@@ -63,6 +64,7 @@ struct position_estimator_inav_param_handles {
 	param_t w_pos_gps_v;
 	param_t w_pos_acc;
 	param_t w_pos_flow;
+	param_t w_acc_bias;
 	param_t flow_k;
 	param_t sonar_filt;
 	param_t sonar_err;