From 07a3a7d4bb245ccf64517792912fa20cd344920d Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Fri, 28 Dec 2012 16:21:13 +0900
Subject: [PATCH] AP_InertialNav: increase baro delay to 0.5 sec (was 0.2sec)
 to allow slower baro updates on APM1

---
 ArduCopter/Log.pde                          | 2 +-
 ArduCopter/inertia.pde                      | 2 +-
 libraries/AP_InertialNav/AP_InertialNav.cpp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 9ebd23689a..30521573a6 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -787,7 +787,7 @@ static void Log_Read_Attitude()
 }
 
 // Write an INAV packet. Total length : 52 Bytes
-static void Log_Write_INAV(float delta_t)
+static void Log_Write_INAV()
 {
 #if INERTIAL_NAV_XY == ENABLED || INERTIAL_NAV_Z == ENABLED
     Vector3f accel_corr = inertial_nav.accel_correction.get();
diff --git a/ArduCopter/inertia.pde b/ArduCopter/inertia.pde
index 752191e93b..7892788f4c 100644
--- a/ArduCopter/inertia.pde
+++ b/ArduCopter/inertia.pde
@@ -13,7 +13,7 @@ static void read_inertia()
         log_counter_inav++;
         if( log_counter_inav >= 10 ) {
             log_counter_inav = 0;
-            Log_Write_INAV(G_Dt);
+            Log_Write_INAV();
         }
     }
 #endif
diff --git a/libraries/AP_InertialNav/AP_InertialNav.cpp b/libraries/AP_InertialNav/AP_InertialNav.cpp
index e2cbe9a147..e909e4460d 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav.cpp
@@ -342,7 +342,7 @@ void AP_InertialNav::correct_with_baro(float baro_alt, float dt)
     float accel_ef_z_correction;
 
     // discard samples where dt is too large
-    if( dt > 0.2 ) {
+    if( dt > 0.5 ) {
         return;
     }