Improve scale estimation calculation slightly #63
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By taking into account the increase in the altd reading when the drone is pitching or rolling, this patch increases the accuracy of the scale estimation. It has a greater effect when the drone is accellerating quickly and is a few meters off the ground.
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By taking into account the increase in the altd reading
when the drone is pitching or rolling, this patch increases the
accuracy of the scale estimation. It has a greater effect when
the drone is accellerating quickly and is a few meters off the ground.