From 0c6a367e1b00e20d0abbd8aa32f92489fcb5ae36 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 7 May 2016 17:45:49 +1000 Subject: [PATCH] EKF: fix Travis build error --- EKF/ekf.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 8477e3d36e..db1356f470 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -273,8 +273,8 @@ bool Ekf::update() float local_time_step = 1e-6f*(float)(_baro_sample_delayed.time_us - last_baro_time_us); local_time_step = math::constrain(local_time_step,0.0f,1.0f); last_baro_time_us = _baro_sample_delayed.time_us; - float raw_offset_error = (_baro_sample_delayed.hgt - _hgt_sensor_offset) + _state.pos(2) - _baro_hgt_offset; - _baro_hgt_offset += local_time_step * math::constrain((0.1f * raw_offset_error), -0.1f, 0.1f); + float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt - _hgt_sensor_offset) + _state.pos(2) - _baro_hgt_offset; + _baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f); } }