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EKF: Correct for sensor noise and baro offset during alignment

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Paul Riseborough
2016-02-10 10:25:27 +11:00
parent a6515543da
commit 40e174b81c
5 changed files with 81 additions and 57 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -78,7 +78,7 @@ void Ekf::resetPosition()
}
baroSample baro_newest = _baro_buffer.get_newest();
_state.pos(2) = -baro_newest.hgt;
_state.pos(2) = _baro_at_alignment - baro_newest.hgt;
}
#if defined(__PX4_POSIX) && !defined(__PX4_QURT)