Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-01 04:46:51 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

fix state update equation (#3003)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/modules/ins/vf_extended_float.c
+1 -1
View File
@@ -182,7 +182,7 @@ void vff_propagate(float accel, float dt)
{ {
/* update state */ /* update state */
vff.zdotdot = accel + 9.81f - vff.bias; 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; vff.zdot += vff.zdotdot * dt;
/* update covariance */ /* update covariance */