diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 |
1 files changed, 4 insertions, 0 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 d37c49696..506bc1bf0 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -497,6 +497,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* adjust correction weight */ float flow_q_weight = (flow_q - params.flow_q_min) / (1.0f - params.flow_q_min); flow_w = att.R[2][2] * flow_q_weight; + /* if flow is not accurate, lower weight for it */ + // TODO make this more fuzzy + if (!flow_accurate) + flow_w *= 0.2f; flow_valid = true; flow_valid_time = t; |