diff options
Diffstat (limited to 'src/kernel/ao_kalman.c')
| -rw-r--r-- | src/kernel/ao_kalman.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/kernel/ao_kalman.c b/src/kernel/ao_kalman.c index 87f1bf66..82315c48 100644 --- a/src/kernel/ao_kalman.c +++ b/src/kernel/ao_kalman.c @@ -103,13 +103,13 @@ ao_kalman_err_height(void) return; height_distrust = ao_sample_alt - AO_MAX_BARO_HEIGHT; #if HAS_ACCEL - /* speed is stored * 16, but we need to ramp between 200 and 328, so + /* speed is stored * 16, but we need to ramp between 248 and 328, so * we want to multiply by 2. The result is a shift by 3. */ speed_distrust = (ao_speed - AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) >> (4 - 1); - if (speed_distrust <= 0) - speed_distrust = 0; - else if (speed_distrust > height_distrust) + if (speed_distrust > AO_MAX_SPEED_DISTRUST) + speed_distrust = AO_MAX_SPEED_DISTRUST; + if (speed_distrust > height_distrust) height_distrust = speed_distrust; #endif if (height_distrust > 0) { |