From 0f2e384ce60768cb44ea225a522e9231277da264 Mon Sep 17 00:00:00 2001 From: Oleg Kalachev Date: Tue, 9 Jun 2026 02:12:27 +0300 Subject: [PATCH] Don't apply level correction on idle thrust --- flix/estimate.ino | 1 + 1 file changed, 1 insertion(+) diff --git a/flix/estimate.ino b/flix/estimate.ino index e66cf38..3303da9 100644 --- a/flix/estimate.ino +++ b/flix/estimate.ino @@ -47,6 +47,7 @@ void applyAcc() { void applyLevel() { if (landed) return; + if (thrustTarget < 0.1) return; // skip at idle thrust // assume the pilot keeps the drone more or less level in flight Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);