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fixed a fuckup with yaw_rate that was caused by more 8bit leftover garbage

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fixed althold vel/constrain typo thx Marcin
flight-tested this build on my shitcopter, CAREFUL flight testing may commence.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@428 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-04 01:51:31 +00:00
parent 891bce4e19
commit 800ce6bdf7
3 changed files with 3238 additions and 3181 deletions
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2
src/imu.c
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@ -388,7 +388,7 @@ int getEstimatedAltitude(void)
// apply Complimentary Filter to keep the calculated velocity based on baro velocity (i.e. near real velocity).
// By using CF it's possible to correct the drift of integrated accZ (velocity) without loosing the phase, i.e without delay
vel = vel * cfg.baro_cf_vel + baroVel * (1 - cfg.baro_cf_vel);
constrain(vel, -1000, 1000); // limit max velocity to +/- 10m/s (36km/h)
vel = constrain(vel, -1000, 1000); // limit max velocity to +/- 10m/s (36km/h)
// D
vel_tmp = vel;