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EKF: Correct for sensor noise and baro offset during alignment

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This commit is contained in:
Paul Riseborough
2016-02-14 09:49:26 +01:00
committed by Roman
parent d21ce70eeb
commit da1de2cc4d
2 changed files with 2 additions and 9 deletions
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EKF/ekf_helper.cpp
+1 -7
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@@ -85,13 +85,7 @@ void Ekf::resetHeight()
{
// if we have a valid height measurement, use it to initialise the vertical position state
baroSample baro_newest = _baro_buffer.get_newest();
if (_time_last_imu - baro_newest.time_us < 200000) {
_state.pos(2) = _baro_at_alignment - baro_newest.hgt;
} else {
// XXX use the value of the last known position
}
_state.pos(2) = _baro_at_alignment - baro_newest.hgt;
}
#if defined(__PX4_POSIX) && !defined(__PX4_QURT)