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Fix AGL velocity estimation using squared acceleration weight factor #11255

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Merged
sensei-hacker merged 2 commits into from
Feb 13, 2026
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Fix AGL velocity estimation using squared acceleration weight factor #11255

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798a612
Fix AGL velocity estimation using squared acceleration weight factor
sensei-hacker Jan 17, 2026
5cf56e8
Fix comment/code mismatch in position estimator weight factors
sensei-hacker Jan 21, 2026
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2 changes: 1 addition & 1 deletion src/main/navigation/navigation_pos_estimator_agl.c
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Expand Up @@ -149,7 +149,7 @@ void estimationCalculateAGL(estimationContext_t * ctx)
// Update estimate
posEstimator.est.aglAlt += posEstimator.est.aglVel * ctx->dt;
posEstimator.est.aglAlt += posEstimator.imu.accelNEU.z * sq(ctx->dt) / 2.0f * posEstimator.imu.accWeightFactor;
posEstimator.est.aglVel += posEstimator.imu.accelNEU.z * ctx->dt * sq(posEstimator.imu.accWeightFactor);
posEstimator.est.aglVel += posEstimator.imu.accelNEU.z * ctx->dt * posEstimator.imu.accWeightFactor;
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// Apply correction
if (posEstimator.est.aglQual == SURFACE_QUAL_HIGH) {
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