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Code Issues Releases Activity

small fix to baro state filter - more init cycles

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This commit is contained in:
Corvus Corax 2013-12-08 13:35:00 +01:00
parent 5cc8dedadf
commit 66b0ffd682
1 changed files with 3 additions and 2 deletions
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5
flight/modules/StateEstimation/filterbaro.c
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@ -37,6 +37,7 @@
// Private constants
#define STACK_REQUIRED 64
#define INIT_CYCLES 1000
// Private types
struct data {
@ -67,7 +68,7 @@ static int32_t init(stateFilter *self)
struct data *this = (struct data *)self->localdata;
this->baroOffset = 0.0f;
this->first_run = 100;
this->first_run = INIT_CYCLES;
RevoSettingsInitialize();
RevoSettingsBaroGPSOffsetCorrectionAlphaGet(&this->baroGPSOffsetCorrectionAlpha);
@ -82,7 +83,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
if (this->first_run) {
// Initialize to current altitude reading at initial location
if (IS_SET(state->updated, SENSORUPDATES_baro)) {
this->baroOffset = (100.f - this->first_run) / 100.f * this->baroOffset + (this->first_run / 100.f) * state->baro[0];
this->baroOffset = (INIT_CYCLES - this->first_run) / INIT_CYCLES * this->baroOffset + (this->first_run / INIT_CYCLES) * state->baro[0];
this->baroAlt = this->baroOffset;
this->first_run--;
UNSET_MASK(state->updated, SENSORUPDATES_baro);