altos: use raw height while waiting for landing

[fw/altos] / src / ao_kalman.c

diff --git a/src/ao_kalman.c b/src/ao_kalman.c
index 203d727a07f4d837551539b74e9feb7a89e32f47..ee01949e5e54a416bc9737e56bb20a03261f8bc1 100644 (file)
--- 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;