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Fix debug output of alt-hold data, accSum was reset prior to output.

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This commit is contained in:
Dominic Clifton 2014-07-02 18:51:27 +01:00
parent 596ac71861
commit af87cff18f
1 changed files with 6 additions and 5 deletions
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11
src/main/flight/imu.c
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@ -439,17 +439,18 @@ void calculateEstimatedAltitude(uint32_t currentTime)
accAlt = accAlt * barometerConfig->baro_cf_alt + (float)BaroAlt * (1.0f - barometerConfig->baro_cf_alt); // complementary filter for Altitude estimation (baro & acc) accAlt = accAlt * barometerConfig->baro_cf_alt + (float)BaroAlt * (1.0f - barometerConfig->baro_cf_alt); // complementary filter for Altitude estimation (baro & acc)
vel += vel_acc; vel += vel_acc;
#if 1
debug[1] = accSum[2] / accSumCount; // acceleration
debug[2] = vel; // velocity
debug[3] = accAlt; // height
#endif
accSum_reset(); accSum_reset();
if (!isBaroCalibrationComplete()) { if (!isBaroCalibrationComplete()) {
return; return;
} }
#if 1
debug[1] = accSum[2] / accSumCount; // acceleration
debug[2] = vel; // velocity
debug[3] = accAlt; // height
#endif
EstAlt = accAlt; EstAlt = accAlt;