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AP_NavEKF3: fixed init order for scheduler 

this can impact replay of EKF2
This commit is contained in:
Andrew Tridgell 2021-01-01 15:08:26 +11:00
parent b36bfe4206
commit e747edbcf2
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -713,7 +713,11 @@ bool NavEKF3::InitialiseFilter(void)
imuSampleTime_us = AP::dal().micros64();
// 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
_framesPerPrediction = uint8_t((EKF_TARGET_DT / (_frameTimeUsec * 1.0e-6) + 0.5));