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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-10-13 21:23:53 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-10-13 21:23:53 +0200 |
| commit | fe21bb7198841d830cfb2f5d904c8e45532eb27e (patch) | |
| tree | d08897ceedf52663876f23dc28e2986b89f88b49 /src/modules/position_estimator_inav | |
| parent | 419cb4bc80d58928d632d0397db75de58534d685 (diff) | |
| download | px4-firmware-fe21bb7198841d830cfb2f5d904c8e45532eb27e.tar.gz px4-firmware-fe21bb7198841d830cfb2f5d904c8e45532eb27e.tar.bz2 px4-firmware-fe21bb7198841d830cfb2f5d904c8e45532eb27e.zip | |
position_estimator_inav: surface offset estimation improved
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 |
1 files changed, 1 insertions, 1 deletions
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 8f789542f..ddd2f62c0 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -636,7 +636,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* surface distance correction */ if (sonar_valid) { - surface_offset_rate -= sonar_corr * params.w_alt_sonar * params.w_alt_sonar * dt; + surface_offset_rate -= sonar_corr * 0.5f * params.w_alt_sonar * params.w_alt_sonar * dt; surface_offset -= sonar_corr * params.w_alt_sonar * dt; } } |