EKF: Improve ground effect compensation

Start deadline at zero so that initial rotor wash effect is rejected.
7 years ago · 8a713398cb
1 changed files with 1 additions and 1 deletions
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@ -107,7 +107,7 @@ void Ekf::fuseVelPosHeight()
				@@ -107,7 +107,7 @@ void Ekf::fuseVelPosHeight()

 			// Compensate for positive static pressure transients (negative vertical position innovations)
 			// casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
-			float deadzone_start = 0.25f * _params.baro_noise;
+			float deadzone_start = 0.0f;
 			float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;

 			if (_control_status.flags.gnd_effect) {