mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF2: documentation update
This commit is contained in:
parent
4a898037e9
commit
2d4eee0cce
|
@ -325,8 +325,12 @@ void NavEKF2_core::readIMUData()
|
||||||
// Keep track of the number of IMU frames since the last state prediction
|
// Keep track of the number of IMU frames since the last state prediction
|
||||||
framesSincePredict++;
|
framesSincePredict++;
|
||||||
|
|
||||||
// If 10msec has elapsed, and the frontend has allowed us to start a new predict cycle, then store the accumulated IMU data
|
/*
|
||||||
// to be used by the state prediction, ignoring the frontend permission if more than 20msec has lapsed
|
* If the target EKF time step has been accumulated, and the frontend has allowed start of a new predict cycle,
|
||||||
|
* then store the accumulated IMU data to be used by the state prediction, ignoring the frontend permission if more
|
||||||
|
* than twice the target time has lapsed. Adjust the target EKF step time threshold to allow for timing jitter in the
|
||||||
|
* IMU data.
|
||||||
|
*/
|
||||||
if ((dtIMUavg*(float)framesSincePredict >= (EKF_TARGET_DT-(dtIMUavg*0.5)) &&
|
if ((dtIMUavg*(float)framesSincePredict >= (EKF_TARGET_DT-(dtIMUavg*0.5)) &&
|
||||||
startPredictEnabled) || (dtIMUavg*(float)framesSincePredict >= 2.0f*EKF_TARGET_DT)) {
|
startPredictEnabled) || (dtIMUavg*(float)framesSincePredict >= 2.0f*EKF_TARGET_DT)) {
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue