AP_LeadFilter: bug fix so velocity * _lag is used (otherwise we are assuming a 1sec lag)

2012-09-20 13:17:42 +09:00 · 2012-09-20 13:17:42 +09:00 · 2110231ee3
parent 2c36693a50
commit 2110231ee3
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_LeadFilter/AP_LeadFilter.cpp
+++ b/libraries/AP_LeadFilter/AP_LeadFilter.cpp
@ -40,5 +40,5 @@ AP_LeadFilter::get_position(int32_t pos, int16_t vel)
    // store velocity for next iteration
    _last_velocity = vel;

-    return pos + vel + accel_contribution;
+    return pos + vel_contribution + accel_contribution;
 }