diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 |
1 files changed, 2 insertions, 2 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 3b0fbd782..a9bc09e0d 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -115,6 +115,7 @@ int position_estimator_inav_main(int argc, char *argv[]) exit(0); } + verbose_mode = false; if (argc > 1) if (!strcmp(argv[2], "-v")) verbose_mode = true; @@ -379,10 +380,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - accel_NED[2] += CONSTANTS_ONE_G; accel_corr[0] = accel_NED[0] - x_est[2]; accel_corr[1] = accel_NED[1] - y_est[2]; - accel_corr[2] = accel_NED[2] - z_est[2]; + accel_corr[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2]; } else { memset(accel_corr, 0, sizeof(accel_corr)); |