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AP_NavEKF: use get_loop_delta_t() from INS

This commit is contained in:
Andrew Tridgell 2015-12-26 14:11:58 +11:00 committed by Randy Mackay
parent 17fc58f3cd
commit 28a684ea03
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF/AP_NavEKF_core.cpp
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@ -226,7 +226,7 @@ bool NavEKF_core::InitialiseFilterDynamic(void)
InitialiseVariables();
// get initial time deltat between IMU measurements (sec)
dtDelAng = dtIMUavg = 1.0f/_ahrs->get_ins().get_sample_rate();
dtDelAng = dtIMUavg = _ahrs->get_ins().get_loop_delta_t();
// set number of updates over which gps and baro measurements are applied to the velocity and position states
gpsUpdateCountMaxInv = (dtIMUavg * 1000.0f)/float(msecGpsAvg);
@ -288,7 +288,7 @@ bool NavEKF_core::InitialiseFilterBootstrap(void)
InitialiseVariables();
// get initial time deltat between IMU measurements (sec)
dtDelAng = dtIMUavg = 1.0f/_ahrs->get_ins().get_sample_rate();
dtDelAng = dtIMUavg = _ahrs->get_ins().get_loop_delta_t();
// set number of updates over which gps and baro measurements are applied to the velocity and position states
gpsUpdateCountMaxInv = (dtIMUavg * 1000.0f)/float(msecGpsAvg);
@ -3824,7 +3824,7 @@ void NavEKF_core::readIMUData()
const AP_InertialSensor &ins = _ahrs->get_ins();
// calculate the average time between IMU updates
dtIMUavg = 1.0f/(float)ins.get_sample_rate();
dtIMUavg = ins.get_loop_delta_t();
// calculate the most recent time between gyro delta angle updates
if (ins.get_delta_time() > 0.0f) {