Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Baro: slow down Baro offset slew

Browse Source
This commit is contained in:
Tom Pittenger 2023-12-06 15:01:07 -08:00 committed by Andrew Tridgell
parent 74c2855be3
commit 813c732a83
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Baro/AP_Baro.cpp
View File

@ -899,7 +899,7 @@ void AP_Baro::update(void)
if (fabsf(_alt_offset - _alt_offset_active) > 0.01f) {
// If there's more than 1cm difference then slowly slew to it via LPF.
// The EKF does not like step inputs so this keeps it happy.
_alt_offset_active = (0.95f*_alt_offset_active) + (0.05f*_alt_offset);
_alt_offset_active = (0.98f*_alt_offset_active) + (0.02f*_alt_offset);
} else {
_alt_offset_active = _alt_offset;
}