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AP_NavEKF: fixed minimum deltat to be 100us

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Andrew Tridgell 2015-06-17 12:00:04 +10:00
parent c221959d5a
commit a115182041
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4066,7 +4066,7 @@ void NavEKF::readIMUData()
const AP_InertialSensor &ins = _ahrs->get_ins(); const AP_InertialSensor &ins = _ahrs->get_ins();
dtIMUavg = 1.0f/ins.get_sample_rate(); 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 // the imu sample time is used as a common time reference throughout the filter
imuSampleTime_ms = hal.scheduler->millis(); imuSampleTime_ms = hal.scheduler->millis();