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Fix bug: pos gain used instead of vel gain

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kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent 2af2696b63
commit 673b309c45
1 changed files with 1 additions and 1 deletions
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EKF/ekf.cpp
+1 -1
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@@ -454,7 +454,7 @@ void Ekf::calculateOutputStates()
// calculate a velocity correction that will be applied to the output state history
// using a PD feedback tuned to a 5% overshoot
const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * pos_gain * 1.1f;
const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f;
/*
* Calculate corrections to be applied to vel and pos output state history.