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ahmedsalah52 2024-12-12 15:46:04 +01:00
parent 7a2b1ce412
commit e0ff8463c4
1 changed files with 1 additions and 2 deletions
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src/main/flight/altitude.c
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@ -270,8 +270,7 @@ void updateSensorOffset(sensorState_t *sensor) {
float newOffset = sensor->currentAltReadingCm - kf.estimatedValue; float newOffset = sensor->currentAltReadingCm - kf.estimatedValue;
if (sensor->penalityIters > 0) { if (sensor->penalityIters > 0) {
sensor->zeroAltOffsetCm = 0.5f * (newOffset + sensor->zeroAltOffsetCm); sensor->zeroAltOffsetCm = 0.5f * (newOffset + sensor->zeroAltOffsetCm);
} } else { // detect a ramp in the sensor readings by accumulating the error
else { // detect a ramp in the sensor readings by accumulating the error
sensor->offsetError += newOffset - sensor->zeroAltOffsetCm; sensor->offsetError += newOffset - sensor->zeroAltOffsetCm;
if (fabsf(sensor->offsetError) > SENSOR_MAX_OFFSET_ERROR) { if (fabsf(sensor->offsetError) > SENSOR_MAX_OFFSET_ERROR) {
sensor->zeroAltOffsetCm = 0.01f * newOffset + 0.99f * sensor->zeroAltOffsetCm; sensor->zeroAltOffsetCm = 0.01f * newOffset + 0.99f * sensor->zeroAltOffsetCm;