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fix state update equation (#3003)

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This commit is contained in:
Ewoud Smeur
2023-02-25 14:02:59 +01:00
committed by GitHub
parent 6169709da6
commit b73086a6e1
1 changed files with 1 additions and 1 deletions
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sw/airborne/modules/ins/vf_extended_float.c
+1 -1
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@@ -182,7 +182,7 @@ void vff_propagate(float accel, float dt)
{
/* update state */
vff.zdotdot = accel + 9.81f - vff.bias;
vff.z += (vff.zdot + vff.zdotdot * dt) * dt / 2.f; // trapizium integration
vff.z += (vff.zdot + vff.zdotdot * dt / 2.f) * dt;
vff.zdot += vff.zdotdot * dt;
/* update covariance */