diff options
| author | Keith Packard <keithp@keithp.com> | 2014-01-14 23:29:59 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2014-01-14 23:29:59 -0800 |
| commit | cc06242e882cba462791962c199b7c89e79adc65 (patch) | |
| tree | 10c33547bcd3c75021e283be00409825f32eedaa /src | |
| parent | 9d812b3db418fd9816731b761a0853eb38f5a265 (diff) | |
altos: Use factory calibration for all acceleration computations
The ground acceleration value will vary depending on the tilt angle of
the airframe, which will result in incorrect acceleration computations
during flight. This also avoids accidental boost detect when moving
the airframe around in pad mode.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src')
| -rw-r--r-- | src/core/ao_flight.c | 2 | ||||
| -rw-r--r-- | src/core/ao_kalman.c | 2 |
2 files changed, 2 insertions, 2 deletions
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 08302140..702c3403 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -401,7 +401,7 @@ ao_flight_dump(void) #if HAS_ACCEL int16_t accel; - accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16; + accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16; #endif printf ("sample:\n"); 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; |