Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 08:38:36 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: Fix one frame delay in processing yaw estimator velocity data

Browse Source
This commit is contained in:
Paul Riseborough 2020-04-25 07:52:45 +10:00 committed by Peter Barker
parent 0ce4dd457d
commit ccaa4d6aa9
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
View File

@ -565,7 +565,7 @@ void NavEKF2_core::runYawEstimatorCorrection()
if (gpsDataToFuse) { if (gpsDataToFuse) {
Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y); Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y);
float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise); float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise);
yawEstimator->pushVelData(gpsVelNE, gpsVelAcc); yawEstimator->fuseVelData(gpsVelNE, gpsVelAcc);
} }
// action an external reset request // action an external reset request