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position_estimator_inav: minor fixes

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This commit is contained in:
Anton Babushkin
2013-07-17 19:54:47 +04:00
parent c6d184e29d
commit c4248c055f
1 changed files with 2 additions and 2 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
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@@ -115,6 +115,7 @@ int position_estimator_inav_main(int argc, char *argv[])
exit(0); exit(0);
} }
verbose_mode = false;
if (argc > 1) if (argc > 1)
if (!strcmp(argv[2], "-v")) if (!strcmp(argv[2], "-v"))
verbose_mode = true; verbose_mode = true;
@@ -379,10 +380,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} }
} }
accel_NED[2] += CONSTANTS_ONE_G;
accel_corr[0] = accel_NED[0] - x_est[2]; accel_corr[0] = accel_NED[0] - x_est[2];
accel_corr[1] = accel_NED[1] - y_est[2]; accel_corr[1] = accel_NED[1] - y_est[2];
accel_corr[2] = accel_NED[2] - z_est[2]; accel_corr[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
} else { } else {
memset(accel_corr, 0, sizeof(accel_corr)); memset(accel_corr, 0, sizeof(accel_corr));