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 | 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; } } |