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AP_Soaring: Initialize filter to the current filtered measurement

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This commit is contained in:
Samuel Tabor 2021-04-14 23:22:14 +01:00 committed by Andrew Tridgell
parent e3109e4b29
commit 3ead096329
2 changed files with 1 additions and 2 deletions
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2
libraries/AP_Soaring/AP_Soaring.cpp
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@ -253,7 +253,7 @@ void SoaringController::init_thermalling()
}
// New state vector filter will be reset. Thermal location is placed in front of a/c
const float init_xr[4] = {INITIAL_THERMAL_STRENGTH,
const float init_xr[4] = {_vario.get_trigger_value(),
INITIAL_THERMAL_RADIUS,
position.x + thermal_distance_ahead * cosf(_ahrs.yaw),
position.y + thermal_distance_ahead * sinf(_ahrs.yaw)};

1
libraries/AP_Soaring/AP_Soaring.h
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@ -22,7 +22,6 @@
#if HAL_SOARING_ENABLED
#define INITIAL_THERMAL_STRENGTH 2.0
#define INITIAL_THERMAL_RADIUS 80.0
#define INITIAL_STRENGTH_COVARIANCE 0.0049
#define INITIAL_RADIUS_COVARIANCE 400.0