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| author | Bdale Garbee <bdale@gag.com> | 2014-01-22 20:55:41 -0700 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2014-01-22 20:55:41 -0700 |
| commit | 9884ca1449167a06bd2cebc7d28353eeac592493 (patch) | |
| tree | 9fde328b3a5971c67954e669c1ba27042821fd8c /src/core/ao_kalman.c | |
| parent | 8e669694a60d34e2ea0f8f6b189e0bc3605d94d7 (diff) | |
| parent | 0ef0c50536e5eb6ad3455b5828983307edbab828 (diff) | |
Merge branch 'branch-1.3' into debian
Diffstat (limited to 'src/core/ao_kalman.c')
| -rw-r--r-- | src/core/ao_kalman.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/core/ao_kalman.c b/src/core/ao_kalman.c index 7fd4f889..9aea1f14 100644 --- a/src/core/ao_kalman.c +++ b/src/core/ao_kalman.c @@ -166,7 +166,7 @@ ao_kalman_err_accel(void) { int32_t accel; - accel = (ao_ground_accel - ao_sample_accel) * ao_accel_scale; + accel = (ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale; /* Can't use ao_accel here as it is the pre-prediction value still */ ao_error_a = (accel - ao_k_accel) >> 16; |