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Improve scale estimation calculation slightly #63

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Improve scale estimation calculation slightly #63

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Commits on Jun 17, 2015

  1. Improve scale estimation calculation slightly 

    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.
    Kenneth Bogert committed Jun 17, 2015
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