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AP_NavEKF3: documentation update

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priseborough 2017-05-01 13:50:44 +10:00 committed by Andrew Tridgell
parent a04aff7a7d
commit 4a898037e9
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -350,7 +350,8 @@ void NavEKF3_core::readIMUData()
/*
* 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.
* than twice the target time has lapsed. Adjust the target EKF step time threshold to allow for timing jitter in the
* IMU data.
*/
if ((imuDataDownSampledNew.delAngDT >= (EKF_TARGET_DT-(dtIMUavg*0.5)) && startPredictEnabled) ||
(imuDataDownSampledNew.delAngDT >= 2.0f*EKF_TARGET_DT)) {