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position_estimator_inav bugfixes

This commit is contained in:
Anton Babushkin 2013-06-17 22:06:45 +04:00
parent e12ae6b3ba
commit 2124c52cff
2 changed files with 2 additions and 2 deletions
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2
src/modules/position_estimator_inav/inertial_filter.c
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@ -20,7 +20,7 @@ void inertial_filter_correct(float edt, float x[3], int i, float w)
if (i == 0) {
x[1] += w * ewdt;
//x[2] += e * w * w * w * dt / 3.0; // ~ 0.0
x[2] += w * w * ewdt / 3.0;
} else if (i == 1) {
x[2] += w * ewdt;

2
src/modules/position_estimator_inav/position_estimator_inav_main.c
View File

@ -355,7 +355,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
if (sensor.baro_counter > baro_counter) {
baro_corr = baro_alt0 - sensor.baro_alt_meter - z_est[2];
baro_corr = baro_alt0 - sensor.baro_alt_meter - z_est[0];
baro_counter = sensor.baro_counter;
baro_updates++;
}