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AP_NavEKF2: Fix bug in vertical position derivative calculation

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Paul Riseborough 2015-10-19 14:01:59 +11:00 committed by Andrew Tridgell
parent f6ad79688e
commit 2b13020c19
1 changed files with 2 additions and 4 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -628,10 +628,8 @@ void NavEKF2_core::calcOutputStatesFast() {
// update vertical velocity and position states used to provide a vertical position derivative output
// using a simple complementary filter
float lastPosDownDerivative = posDownDerivative;
posDownDerivative += delVelNav.z;
float posDownDerivativeCorrection = 0.2f * (outputDataNew.position.z - posDown);
posDown += (posDownDerivative + lastPosDownDerivative) * (imuDataNew.delVelDT*0.5f) + posDownDerivativeCorrection * imuDataNew.delVelDT;
posDownDerivative = 2.0f * (outputDataNew.position.z - posDown);
posDown += (posDownDerivative + lastPosDownDerivative + 2.0f*delVelNav.z) * (imuDataNew.delVelDT*0.5f);
}
/*