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position_estimator_inav: surface offset estimation improved

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This commit is contained in:
Anton Babushkin 2013-10-13 21:23:53 +02:00
parent 419cb4bc80
commit fe21bb7198
1 changed files with 1 additions and 1 deletions
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2
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -636,7 +636,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* surface distance correction */
if (sonar_valid) {
surface_offset_rate -= sonar_corr * params.w_alt_sonar * params.w_alt_sonar * dt;
surface_offset_rate -= sonar_corr * 0.5f * params.w_alt_sonar * params.w_alt_sonar * dt;
surface_offset -= sonar_corr * params.w_alt_sonar * dt;
}
}