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Make sonar handle out-of-range values better #24

Closed kylc closed 10 years ago

kylc commented 10 years ago

Don't spike Z readings when the sonar reading gets below 0.3m or above 4.0m.

kylc commented 10 years ago

Fixed. Z estimates when sonar is invalid use the last good sonar value, along with updated accelerometer and barometer readings.