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AP_AHRS: removed vertical G limit on GPS velocity correction

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this limit could lead to a bias in the accel drift correction, and is
frequenctly exceeded
This commit is contained in:
Andrew Tridgell 2013-11-04 13:58:34 +11:00 committed by Randy Mackay
parent 820ec465c7
commit f9c72f9dbf
1 changed files with 0 additions and 3 deletions
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libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -551,9 +551,6 @@ AP_AHRS_DCM::drift_correction(float deltat)
if (_flags.correct_centrifugal && (_have_gps_lock || _flags.fly_forward)) {
float v_scale = gps_gain.get()/(_ra_deltat*GRAVITY_MSS);
Vector3f vdelta = (velocity - _last_velocity) * v_scale;
// limit vertical acceleration correction to 0.5 gravities. The
// barometer sometimes gives crazy acceleration changes.
vdelta.z = constrain_float(vdelta.z, -0.5f, 0.5f);
GA_e += vdelta;
GA_e.normalize();
if (GA_e.is_inf()) {