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catapult launch detection: fix integration logic

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Thomas Gubler
2014-08-22 23:15:11 +02:00
parent edffb2eede
commit 8d3dd7363d
1 changed files with 2 additions and 2 deletions
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src/lib/launchdetection/CatapultLaunchMethod.cpp
+2 -2
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@@ -66,10 +66,10 @@ void CatapultLaunchMethod::update(float accel_x)
last_timestamp = hrt_absolute_time();
if (accel_x > threshold_accel.get()) {
integrator += accel_x * dt;
integrator += dt;
// warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
// (double)integrator, (double)threshold_accel.get(), (double)threshold_time.get(), (double)accel_x, (double)dt);
if (integrator > threshold_accel.get() * threshold_time.get()) {
if (integrator > threshold_time.get()) {
launchDetected = true;
}