Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: position lead filters modified to use lag which varies by gps

This commit is contained in:
rmackay9 2012-09-20 15:49:09 +09:00
parent 50a97f3092
commit b3ff368589
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/navigation.pde
View File

@ -63,8 +63,8 @@ static void calc_XY_velocity(){
filtered_loc.lng = xLeadFilter.get_position(g_gps->longitude, accels_velocity.x);
filtered_loc.lat = yLeadFilter.get_position(g_gps->latitude, accels_velocity.y);
#else
filtered_loc.lng = xLeadFilter.get_position(g_gps->longitude, x_actual_speed);
filtered_loc.lat = yLeadFilter.get_position(g_gps->latitude, y_actual_speed);
filtered_loc.lng = xLeadFilter.get_position(g_gps->longitude, x_actual_speed, g_gps->get_lag());
filtered_loc.lat = yLeadFilter.get_position(g_gps->latitude, y_actual_speed, g_gps->get_lag());
#endif
}