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AP_NavEKF: improved replay timing

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This commit is contained in:
Andrew Tridgell 2014-02-27 08:11:04 +11:00
parent 840f1b9a1e
commit 8b59e564ba
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
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@ -195,11 +195,13 @@ static void read_sensors(uint8_t type)
uint32_t update_delta_usec = 1e6 / update_rate;
uint8_t update_count = update_rate>0?update_rate/50:1;
for (uint8_t i=0; i<update_count; i++) {
hal.scheduler->stop_clock(hal.scheduler->micros() + i*update_delta_usec);
ahrs.update();
if (ahrs.get_home().lat != 0) {
inertial_nav.update(ins.get_delta_time());
}
hal.scheduler->stop_clock(hal.scheduler->micros() + (i+1)*update_delta_usec);
ins.set_gyro(0, ins.get_gyro());
ins.set_accel(0, ins.get_accel());
}
} else if ((type == LOG_PLANE_COMPASS_MSG && LogReader.vehicle == LogReader::VEHICLE_PLANE) ||
(type == LOG_COPTER_COMPASS_MSG && LogReader.vehicle == LogReader::VEHICLE_COPTER)) {