rangefinder complementary filter for 4.0#176
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zalice merged 4 commits intomttr-rebase-4.0from Jun 10, 2021
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this should reduce the impact of noise in the rangefinder data. Filter cutoff frequency is low in loiter and higher otherwise
zalice
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Jun 10, 2021
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This is a version of #149 for the 4.0 branch.
This adds a complementary filter between INS and rangefinder data to give smooth altitude hold with noisy rangefinder data. The cutoff frequency for the filter changes, with a low frequency cutoff used in AUTO mode loiter and a higher frequency used for normal flight.