Fixed dynamic IIR filter for air-density-factor.

No bug, there was just a bad definition for the filter-coefficient.

Author: realtimepeople

NAV_Algorithms/air_density_observer.h

@@ -38,7 +38,7 @@ typedef uint64_t measurement_type;
 #define MINIMUM_ALTITUDE_RANGE		300.0f
 #define MAXIMUM_ALTITUDE_RANGE		800.0f
 #define USE_AIR_DENSITY_LETHARGY	1
-#define AIR_DENSITY_LETHARGY 		0.7
+#define AIR_DENSITY_LETHARGY 		0.7f
 #define AIR_DENSITY_DECIMATION		20
 
 //! Maintains offset and slope of the air density measurement

NAV_Algorithms/atmosphere.h

@@ -138,18 +138,19 @@ class atmosphere_t
 #if USE_AIR_DENSITY_LETHARGY
 	  bool first_measurement = (weight_sum == 0.0f);
 
-	  weight_sum =  weight_sum * AIR_DENSITY_LETHARGY + (AIR_DENSITY_LETHARGY -1) / result.density_variance;
-	  density_factor_weighed_sum =  density_factor_weighed_sum * AIR_DENSITY_LETHARGY + (AIR_DENSITY_LETHARGY -1) * result.density_correction / result.density_variance;
+	  weight_sum =  weight_sum * AIR_DENSITY_LETHARGY + (1.0f - AIR_DENSITY_LETHARGY) / result.density_variance;
+	  density_factor_weighed_sum =  density_factor_weighed_sum * AIR_DENSITY_LETHARGY + (1.0f - AIR_DENSITY_LETHARGY) * result.density_correction / result.density_variance;
 
 	  // postpone update unless we have two measurements
 	  if( ! first_measurement)
 	    density_correction = density_factor_weighed_sum / weight_sum;
+
+extern void report_desity_parameters( float, float, float, float);
+	  report_desity_parameters( density_correction, density_factor_weighed_sum, weight_sum, result.density_variance);
+
 #else
 	  density_correction = result.density_correction;
 #endif
-	  // todo patch: emergency-brake for implausible values
-	  if( density_correction > 1.15f || density_correction < 0.85f)
-	    density_correction = ONE;
 	}
     }