From fe21bb7198841d830cfb2f5d904c8e45532eb27e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 13 Oct 2013 21:23:53 +0200 Subject: position_estimator_inav: surface offset estimation improved --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/position_estimator_inav') 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; } } -- cgit v1.2.3