Adjustments to LiDAR complementary filter.

quad/src/quad_app/sensor_processing.c

@@ -125,14 +125,14 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
 	/*
 	 * Altitude double complementary filter
 	 */
-	static float alt_alpha = 0.9975;
+	static float alt_alpha = 0.98;
 	static float filtered_vel = 0;
 	static float filtered_alt = 0;
 	static float last_lidar = 0;
 	
-	float this_lidar = raw_sensor_struct->lidar_distance_m;
+	float this_lidar = -raw_sensor_struct->lidar_distance_m;
 	// Acceleration in m/s without gravity
-	float quad_z_accel = -9.8 * (accel_z + 1);
+	float quad_z_accel = 9.8 * (accel_z + 1);
 	filtered_vel = alt_alpha*(filtered_vel + quad_z_accel*get_last_loop_time()) +
 	              (1 - alt_alpha)*(this_lidar - last_lidar);
 	filtered_alt = alt_alpha*(filtered_alt + filtered_vel*get_last_loop_time()) +