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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-17 22:06:45 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-17 22:06:45 +0400 |
| commit | 2124c52cff152e696a73888a7b16556d3c882ec1 (patch) | |
| tree | b3e52c597421d6b5421601e342ad8c44706940fd /src/modules/position_estimator_inav | |
| parent | e12ae6b3ba09f8c20aaa40493532f8c071bf779f (diff) | |
| download | px4-firmware-2124c52cff152e696a73888a7b16556d3c882ec1.tar.gz px4-firmware-2124c52cff152e696a73888a7b16556d3c882ec1.tar.bz2 px4-firmware-2124c52cff152e696a73888a7b16556d3c882ec1.zip | |
position_estimator_inav bugfixes
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/inertial_filter.c | 2 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 |
2 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/position_estimator_inav/inertial_filter.c b/src/modules/position_estimator_inav/inertial_filter.c index 8cdde5e1a..acaf693f1 100644 --- a/src/modules/position_estimator_inav/inertial_filter.c +++ b/src/modules/position_estimator_inav/inertial_filter.c @@ -20,7 +20,7 @@ void inertial_filter_correct(float edt, float x[3], int i, float w) if (i == 0) { x[1] += w * ewdt; - //x[2] += e * w * w * w * dt / 3.0; // ~ 0.0 + x[2] += w * w * ewdt / 3.0; } else if (i == 1) { x[2] += w * ewdt; diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index ac51a7010..a8a66e93d 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -355,7 +355,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } if (sensor.baro_counter > baro_counter) { - baro_corr = baro_alt0 - sensor.baro_alt_meter - z_est[2]; + baro_corr = baro_alt0 - sensor.baro_alt_meter - z_est[0]; baro_counter = sensor.baro_counter; baro_updates++; } |