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AP_NavEKF3: use ekf_low_time_remaining for core scheduling

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This commit is contained in:
Andrew Tridgell 2020-11-07 08:24:25 +11:00
parent 90a8c5cb1a
commit 31091d6307
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -818,8 +818,7 @@ void NavEKF3::UpdateFilter(void)
// loop then suppress the prediction step. This allows // loop then suppress the prediction step. This allows
// multiple EKF instances to cooperate on scheduling // multiple EKF instances to cooperate on scheduling
if (core[i].getFramesSincePredict() < (_framesPerPrediction+3) && if (core[i].getFramesSincePredict() < (_framesPerPrediction+3) &&
// need sub-frame micros for this test AP::dal().ekf_low_time_remaining(AP_DAL::EKFType::EKF3, i)) {
(AP::dal().micros64() - imuSampleTime_us) > _frameTimeUsec/3) {
statePredictEnabled[i] = false; statePredictEnabled[i] = false;
} else { } else {
statePredictEnabled[i] = true; statePredictEnabled[i] = true;