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

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This commit is contained in:
rmackay9 2012-09-20 13:17:42 +09:00
parent 2c36693a50
commit 2110231ee3
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_LeadFilter/AP_LeadFilter.cpp
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@ -40,5 +40,5 @@ AP_LeadFilter::get_position(int32_t pos, int16_t vel)
// store velocity for next iteration // store velocity for next iteration
_last_velocity = vel; _last_velocity = vel;
return pos + vel + accel_contribution; return pos + vel_contribution + accel_contribution;
} }