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AP_NavEKF2: Fix delta time use error

This commit is contained in:
priseborough 2017-12-05 07:49:19 +11:00 committed by Andrew Tridgell
parent 440d361aff
commit 3b32d583a9
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -396,7 +396,7 @@ bool NavEKF2_core::readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &d
if (ins_index < ins.get_accel_count()) {
ins.get_delta_velocity(ins_index,dVel);
dVel_dt = MAX(ins.get_delta_velocity_dt(ins_index),1.0e-4f);
dVel_dt = MIN(ins.get_delta_velocity_dt(ins_index),1.0e-1f);
dVel_dt = MIN(dVel_dt,1.0e-1f);
return true;
}
return false;
@ -539,7 +539,7 @@ bool NavEKF2_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAng
ins.get_delta_angle(ins_index,dAng);
frontend->logging.log_imu = true;
dAng_dt = MAX(ins.get_delta_angle_dt(imu_index),1.0e-4f);
dAng_dt = MIN(dt,1.0e-1f);
dAng_dt = MIN(dAng_dt,1.0e-1f);
return true;
}
return false;