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AP_AHRS: prevent a large delta_t from affecting DCM solution

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this should fix large changes in attitude directly after arming
ArduCopter
This commit is contained in:
Andrew Tridgell 2012-11-13 15:33:10 +11:00
parent a523c319ce
commit e28cbed1e9
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -43,6 +43,15 @@ AP_AHRS_DCM::update(void)
// ask the IMU how much time this sensor reading represents // ask the IMU how much time this sensor reading represents
delta_t = _ins->get_delta_time(); delta_t = _ins->get_delta_time();
// if the update call took more than 0.2 seconds then discard it,
// otherwise we may move too far. This happens when arming motors
// in ArduCopter
if (delta_t > 0.2) {
_ra_sum.zero();
_ra_deltat = 0;
return;
}
// Get current values for gyros // Get current values for gyros
_gyro_vector = _ins->get_gyro(); _gyro_vector = _ins->get_gyro();
_accel_vector = _ins->get_accel(); _accel_vector = _ins->get_accel();