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Replay: pass delta angle time if available

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This commit is contained in:
Andrew Tridgell 2016-04-26 15:50:59 +10:00
parent be41d402b5
commit 909a46a33b
1 changed files with 5 additions and 1 deletions
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6
Tools/Replay/LR_MsgHandler.cpp
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@ -242,7 +242,11 @@ void LR_MsgHandler_IMT_Base::update_from_msg_imt(uint8_t imu_offset, uint8_t *ms
if (gyro_mask & this_imu_mask) {
Vector3f d_angle;
require_field(msg, "DelA", d_angle);
ins.set_delta_angle(imu_offset, d_angle);
float d_angle_dt;
if (!field_value(msg, "DelaT", d_angle_dt)) {
d_angle_dt = 0;
}
ins.set_delta_angle(imu_offset, d_angle, d_angle_dt);
}
if (accel_mask & this_imu_mask) {
float dvt = 0;