PX4/Firmware — pull request #1397 by dyeldandi (2014-10-20 10:32:43+00:00)
Title: Adding vertical (Z) velocity to inav estimator

This is needed for high-accuracy GNSS sensors (like Ashtech MB100 we are using). It allows copter to maintain better altitude stability.

Basically copying horizontal code.

Here is the log http://dash.oznet.ch/view/wxpvxAKYstGZjXvkKTSkye