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Don't apply level correction on idle thrust

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Oleg Kalachev
2026-06-09 02:12:27 +03:00
parent 5e153a210d
commit 0f2e384ce6
1 changed files with 1 additions and 0 deletions
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flix/estimate.ino
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@@ -47,6 +47,7 @@ void applyAcc() {
void applyLevel() { void applyLevel() {
if (landed) return; if (landed) return;
if (thrustTarget < 0.1) return; // skip at idle thrust
// assume the pilot keeps the drone more or less level in flight // assume the pilot keeps the drone more or less level in flight
Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude); Vector up = Quaternion::rotateVector(Vector(0, 0, 1), attitude);