diff options
Diffstat (limited to 'src/ao_kalman.c')
| -rw-r--r-- | src/ao_kalman.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/ao_kalman.c b/src/ao_kalman.c index 203d727a..ee01949e 100644 --- a/src/ao_kalman.c +++ b/src/ao_kalman.c @@ -277,7 +277,7 @@ ao_kalman(void) ao_accel = from_fix(ao_k_accel); if (ao_height > ao_max_height) ao_max_height = ao_height; - ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_height; + ao_avg_height_scaled = ao_avg_height_scaled - ao_avg_height + ao_sample_height; #ifdef AO_FLIGHT_TEST if (ao_sample_tick - ao_sample_prev_tick > 50) ao_avg_height = (ao_avg_height_scaled + 1) >> 1; |