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Fix typo in XY velocity calculation [skip ci]

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Konstantin (DigitalEntity) Sharlaimov 2018-06-11 21:20:21 +02:00
parent 927a5907ba
commit 8a4b19a732
1 changed files with 2 additions and 2 deletions
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4
src/main/navigation/navigation_pos_estimator.c
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@ -494,8 +494,8 @@ static void estimationPredict(estimationContext_t * ctx)
if (navIsHeadingUsable() && navIsAccelerationUsable()) {
posEstimator.est.pos.x += posEstimator.imu.accelNEU.x * sq(ctx->dt) / 2.0f;
posEstimator.est.pos.y += posEstimator.imu.accelNEU.y * sq(ctx->dt) / 2.0f;
posEstimator.est.vel.x += posEstimator.imu.accelNEU.z * ctx->dt;
posEstimator.est.vel.y += posEstimator.imu.accelNEU.z * ctx->dt;
posEstimator.est.vel.x += posEstimator.imu.accelNEU.x * ctx->dt;
posEstimator.est.vel.y += posEstimator.imu.accelNEU.y * ctx->dt;
}
}
}