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AP_NavEKF2: remove separate calls to get delta-times for vel and ang

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This commit is contained in:
Peter Barker 2021-02-12 08:34:38 +11:00 committed by Peter Barker
parent 5c31238f28
commit 5dff32422d
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -475,8 +475,8 @@ bool NavEKF2_core::readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &d
const auto &ins = dal.ins(); const auto &ins = dal.ins();
if (ins_index < ins.get_accel_count()) { if (ins_index < ins.get_accel_count()) {
ins.get_delta_velocity(ins_index,dVel); ins.get_delta_velocity(ins_index,dVel, dVel_dt);
dVel_dt = MAX(ins.get_delta_velocity_dt(ins_index),1.0e-4f); dVel_dt = MAX(dVel_dt,1.0e-4f);
dVel_dt = MIN(dVel_dt,1.0e-1f); dVel_dt = MIN(dVel_dt,1.0e-1f);
return true; return true;
} }
@ -647,8 +647,8 @@ bool NavEKF2_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAng
const auto &ins = dal.ins(); const auto &ins = dal.ins();
if (ins_index < ins.get_gyro_count()) { if (ins_index < ins.get_gyro_count()) {
ins.get_delta_angle(ins_index,dAng); ins.get_delta_angle(ins_index, dAng, dAng_dt);
dAng_dt = MAX(ins.get_delta_angle_dt(ins_index),1.0e-4f); dAng_dt = MAX(dAng_dt,1.0e-4f);
dAng_dt = MIN(dAng_dt,1.0e-1f); dAng_dt = MIN(dAng_dt,1.0e-1f);
return true; return true;
} }