AP_Baro: slow down Baro offset slew

magicrub · Dec 20, 2023 · 615bea2 · 615bea2
1 parent cd72dcb
commit 615bea2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
@@ -899,7 +899,7 @@ void AP_Baro::update(void)
     if (fabsf(_alt_offset - _alt_offset_active) > 0.01f) {
         // If there's more than 1cm difference then slowly slew to it via LPF.
         // The EKF does not like step inputs so this keeps it happy.
-        _alt_offset_active = (0.95f*_alt_offset_active) + (0.05f*_alt_offset);
+        _alt_offset_active = (0.98f*_alt_offset_active) + (0.02f*_alt_offset);
     } else {
         _alt_offset_active = _alt_offset;
     }