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Plane: sped up is_flying filter since it is running at only 1Hz

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Tom Pittenger 2015-02-26 09:15:16 -08:00 committed by Andrew Tridgell
parent 8f7bb61a54
commit 659904bf65
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/ArduPlane.pde
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@ -1571,19 +1571,19 @@ static void determine_is_flying(void)
} }
// low-pass the result. // low-pass the result.
isFlyingProbability = (0.8 * isFlyingProbability) + (0.2*(float)isFlyingBool); isFlyingProbability = (0.6f * isFlyingProbability) + (0.4f * (float)isFlyingBool);
} }
static bool is_flying(void) static bool is_flying(void)
{ {
if(arming.is_armed()) { if(arming.is_armed()) {
// when armed, assume we're flying unless we probably aren't // when armed, assume we're flying unless we probably aren't
return (isFlyingProbability >= 0.1); return (isFlyingProbability >= 0.1f);
} }
else else
{ {
// when disarmed, assume we're not flying unless we probably are // when disarmed, assume we're not flying unless we probably are
return (isFlyingProbability >= 0.9); return (isFlyingProbability >= 0.9f);
} }
} }