X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fao_kalman.c;h=ee01949e5e54a416bc9737e56bb20a03261f8bc1;hb=01aee9ebe517ed657692e0a39a31ae0ddfb5b8b0;hp=203d727a07f4d837551539b74e9feb7a89e32f47;hpb=6c55bf35b11ae3ddae152795072d69e98184bac1;p=fw%2Faltos

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;