From 55ed9e96126cab150dbad1d9bd9db392b75781d9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 4 Jun 2015 18:54:28 +0200
Subject: [PATCH] ECL: Run TECS filter faster, adjust gains accordingly

---
 src/lib/external_lgpl/tecs/tecs.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index cfcc48b62a..d13673ec9b 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -89,7 +89,7 @@ void TECS::update_50hz(float baro_altitude, float airspeed, const math::Matrix<3
 		// take 5 point moving average
 		//_vel_dot = _vdot_filter.apply(temp);
 		// XXX resolve this properly
-		_vel_dot = 0.9f * _vel_dot + 0.1f * temp;
+		_vel_dot = 0.95f * _vel_dot + 0.05f * temp;
 
 	} else {
 		_vel_dot = 0.0f;