From 57e83040b8670b2861ebc51a2f9d2cd8e5c10a34 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 19 Dec 2023 04:46:59 +0300
Subject: [PATCH] Apply accelerometer in estimation only when we're landed and
 stable Accelerometer gives only motors specific force in flight, which makes
 it useless to determine the current vertial

---
 flix/estimate.ino | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/flix/estimate.ino b/flix/estimate.ino
index b8445a7..6302e9f 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -29,10 +29,9 @@ void applyAcc()
 {
 	// test should we apply accelerometer gravity correction
 	float accNorm = acc.norm();
-	if (accNorm < ACC_MIN * ONE_G || accNorm > ACC_MAX * ONE_G) {
-		// use accelerometer only when we're not accelerating
-		return;
-	}
+	bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
+
+	if (!landed) return;
 
 	// calculate accelerometer correction
 	Vector up = attitude.rotate(Vector(0, 0, -1));