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Refactor position estimation code

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Remove position estimate history code
Remove rangefinder median filtering
Change VEL_XY PID to allow more authority
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-12-06 23:30:33 +10:00
parent f3422ce423
commit a60e9f63d4
11 changed files with 128 additions and 182 deletions
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1
src/main/fc/fc_msp_box.c
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@ -175,6 +175,7 @@ void initActiveBoxIds(void)
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
}
if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;