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AP_NavEKF2: use ekf_low_time_remaining for core scheduling

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This commit is contained in:
Andrew Tridgell 2020-11-07 08:24:25 +11:00
parent 47c3fadc17
commit 90a8c5cb1a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -763,7 +763,7 @@ void NavEKF2::UpdateFilter(void)
// loop then suppress the prediction step. This allows
// multiple EKF instances to cooperate on scheduling
if (core[i].getFramesSincePredict() < (_framesPerPrediction+3) &&
(AP::dal().micros64() - imuSampleTime_us) > _frameTimeUsec/3) {
AP::dal().ekf_low_time_remaining(AP_DAL::EKFType::EKF2, i)) {
statePredictEnabled[i] = false;
} else {
statePredictEnabled[i] = true;