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Code Issues Releases Activity

fixes to barofilter

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This commit is contained in:
Corvus Corax 2013-12-08 14:00:09 +01:00
parent 66b0ffd682
commit 84af4b7651
1 changed files with 3 additions and 3 deletions
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6
flight/modules/StateEstimation/filterbaro.c
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@ -37,7 +37,7 @@
// Private constants
#define STACK_REQUIRED 64
#define INIT_CYCLES 1000
#define INIT_CYCLES 100
// Private types
struct data {
@ -83,8 +83,8 @@ 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 = (INIT_CYCLES - this->first_run) / INIT_CYCLES * this->baroOffset + (this->first_run / INIT_CYCLES) * state->baro[0];
this->baroAlt = this->baroOffset;
this->baroOffset = ((float)(INIT_CYCLES)-this->first_run) / (float)(INIT_CYCLES)*this->baroOffset + (this->first_run / (float)(INIT_CYCLES)) * state->baro[0];
this->baroAlt = 0;
this->first_run--;
UNSET_MASK(state->updated, SENSORUPDATES_baro);
}