From a1151820419b86290fcac746c4f16b34cbed47c1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 17 Jun 2015 12:00:04 +1000 Subject: [PATCH] AP_NavEKF: fixed minimum deltat to be 100us --- libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 88dd38be52..96ee527676 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -4066,7 +4066,7 @@ void NavEKF::readIMUData() const AP_InertialSensor &ins = _ahrs->get_ins(); dtIMUavg = 1.0f/ins.get_sample_rate(); - dtIMUactual = max(ins.get_delta_time(),1.0e-3f); + dtIMUactual = max(ins.get_delta_time(),1.0e-4f); // the imu sample time is used as a common time reference throughout the filter imuSampleTime_ms = hal.scheduler->millis();