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EKF: improve detection of bad vert accel data

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Improve ability to detect if bad vertical accel data has caused loss of height accuracy by using historical data.
This commit is contained in:
Paul Riseborough
2016-04-22 09:24:04 +10:00
parent 469a7d1711
commit 874558d194
3 changed files with 23 additions and 7 deletions
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EKF/ekf.cpp
+2 -1
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@@ -89,7 +89,8 @@ Ekf::Ekf():
_vert_pos_reset_delta(0.0f),
_time_vert_pos_reset(0),
_vert_vel_reset_delta(0.0f),
_time_vert_vel_reset(0)
_time_vert_vel_reset(0),
_time_bad_vert_accel(0)
{
_state = {};
_last_known_posNE.setZero();