INav: clear historic z-axis position estimate when set_altitude called

11 years ago · 28ce66f314
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_InertialNav/AP_InertialNav.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav.cpp
@ -351,6 +351,7 @@ void AP_InertialNav::set_altitude( float new_altitude)
				@@ -351,6 +351,7 @@ void AP_InertialNav::set_altitude( float new_altitude)
    _position_base.z = new_altitude;
    _position_correction.z = 0;
    _position.z = new_altitude; // _position = _position_base + _position_correction
+    _hist_position_estimate_z.clear(); // reset z history to avoid fake z velocity at next baro calibration (next rearm)
 }

 //