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EKF: use common value for gravity

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Paul Riseborough
2016-04-12 07:56:06 +10:00
parent 163c08a3ac
commit 8c55e36ca9
1 changed files with 1 additions and 1 deletions
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EKF/ekf.cpp
+1 -1
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@@ -628,7 +628,7 @@ void Ekf::calculateOutputStates()
Vector3f delta_vel_NED = _R_to_earth_now * delta_vel + _delta_vel_corr;
// corrrect for measured accceleration due to gravity
delta_vel_NED(2) += 9.81f * imu_new.delta_vel_dt;
delta_vel_NED(2) += _gravity_mss * imu_new.delta_vel_dt;
// save the previous velocity so we can use trapezidal integration
Vector3f vel_last = _output_new.vel;