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AP_SmallEKF: increase start-up time of the SmallEKF

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Arthur Benemann 2015-04-08 16:07:48 -07:00 committed by Randy Mackay
parent 21b909f670
commit e59c6ddbae
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_SmallEKF.cpp
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@ -91,7 +91,7 @@ void SmallEKF::RunEKF(float delta_time, const Vector3f &delta_angles, const Vect
// Align the heading once there has been enough time for the filter to settle and the tilt corrections have dropped below a threshold
// Force it to align if too much time has lapsed
if (((((imuSampleTime_ms - StartTime_ms) > 5000 && TiltCorrection < 1e-4f) || (imuSampleTime_ms - StartTime_ms) > 30000)) && !YawAligned) {
if (((((imuSampleTime_ms - StartTime_ms) > 25000 && TiltCorrection < 1e-4f) || (imuSampleTime_ms - StartTime_ms) > 30000)) && !YawAligned) {
//calculate the initial heading using magnetometer, estimated tilt and declination
alignHeading();
YawAligned = true;
@ -937,7 +937,7 @@ void SmallEKF::getQuat(Quaternion &quat) const
bool SmallEKF::getStatus() const
{
float run_time = hal.scheduler->millis() - StartTime_ms;
return YawAligned && (run_time > 10000);
return YawAligned && (run_time > 30000);
}
#endif // HAL_CPU_CLASS