fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-11 21:45:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: fix travis build error

Browse Source
This commit is contained in:
Paul Riseborough 2016-03-13 21:56:28 +11:00
parent 7677a162aa
commit 49023f3d7e
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
EKF/ekf.cpp
View File

@ -246,7 +246,8 @@ bool Ekf::update()
} else {
// calculate a filtered offset between the baro origin and local NED origin if we are not using the baro as a height reference
_baro_hgt_offset += 0.02f * math::constrain((_baro_sample_delayed.hgt + _state.pos(2) - _baro_hgt_offset), -5.0f, 5.0f);
float offset_error = _baro_sample_delayed.hgt + _state.pos(2) - _baro_hgt_offset;
_baro_hgt_offset += 0.02f * math::constrain(offset_error, -5.0f, 5.0f);
}
}