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position_estimator_inav: if flow is inaccurate, but used for correction with less weight

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This commit is contained in:
Anton Babushkin 2013-10-09 11:41:00 +02:00
parent 2fc011d20c
commit b7d8d77c0f
1 changed files with 4 additions and 0 deletions
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4
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -497,6 +497,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* adjust correction weight */
float flow_q_weight = (flow_q - params.flow_q_min) / (1.0f - params.flow_q_min);
flow_w = att.R[2][2] * flow_q_weight;
/* if flow is not accurate, lower weight for it */
// TODO make this more fuzzy
if (!flow_accurate)
flow_w *= 0.2f;
flow_valid = true;
flow_valid_time = t;