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altos: De-bias height/speed data while on pad
[fw/altos]
/
src
/
kernel
/
ao_sample.c
diff --git
a/src/kernel/ao_sample.c
b/src/kernel/ao_sample.c
index 91cf113e3a6ae58880be274bec43653154e485fe..46771496b69a4745cd6ea24597f9fa048c7243ba 100644
(file)
--- a/
src/kernel/ao_sample.c
+++ b/
src/kernel/ao_sample.c
@@
-322,6
+322,10
@@
ao_sample_preflight_update(void)
++nsamples;
else
ao_sample_preflight_set();
++nsamples;
else
ao_sample_preflight_set();
+#if !HAS_BARO
+ if ((nsamples & 0x3f) == 0)
+ ao_kalman_reset_accumulate();
+#endif
}
#if 0
}
#if 0