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AP_NavEKF2: fixed init order for scheduler

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this can impact replay of EKF2
This commit is contained in:
Andrew Tridgell 2021-01-01 15:08:26 +11:00
parent 913d1b81b2
commit b36bfe4206
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -634,7 +634,11 @@ bool NavEKF2::InitialiseFilter(void)
imuSampleTime_us = AP::dal().micros64(); imuSampleTime_us = AP::dal().micros64();
// remember expected frame time // remember expected frame time
_frameTimeUsec = 1e6 / ins.get_loop_rate_hz(); const float loop_rate = ins.get_loop_rate_hz();
if (!is_positive(loop_rate)) {
return false;
}
_frameTimeUsec = 1e6 / loop_rate;
// expected number of IMU frames per prediction // expected number of IMU frames per prediction
_framesPerPrediction = uint8_t((EKF_TARGET_DT / (_frameTimeUsec * 1.0e-6) + 0.5)); _framesPerPrediction = uint8_t((EKF_TARGET_DT / (_frameTimeUsec * 1.0e-6) + 0.5));