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AP_NavEKF: fix delay detection so that filter properly resets after a delay

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Jonathan Challinger 2015-04-16 16:57:37 -07:00 committed by Randy Mackay
parent 3719ea53e4
commit 085faaac6a
1 changed files with 1 additions and 3 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3982,9 +3982,7 @@ void NavEKF::readIMUData()
const AP_InertialSensor &ins = _ahrs->get_ins(); const AP_InertialSensor &ins = _ahrs->get_ins();
dtIMUavg = 1.0f/ins.get_sample_rate(); dtIMUavg = 1.0f/ins.get_sample_rate();
dtIMUactual = max(ins.get_delta_time(),1.0e-3f);
// limit IMU delta time to prevent numerical problems elsewhere
dtIMUactual = constrain_float(ins.get_delta_time(),0.001f,0.2f);
// the imu sample time is sued as a common time reference throughout the filter // the imu sample time is sued as a common time reference throughout the filter
imuSampleTime_ms = hal.scheduler->millis(); imuSampleTime_ms = hal.scheduler->millis();