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AP_NAvEKF3: use #define value for bad IMU hold time

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Paul Riseborough 2021-07-17 08:54:33 +10:00 committed by Andrew Tridgell
parent 00806ac9fb
commit fb6de9ad9d
2 changed files with 4 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -693,7 +693,7 @@ void NavEKF3_core::FuseVelPosNED()
} else {
goodIMUdata_ms = imuSampleTime_ms;
}
if (imuSampleTime_ms - badIMUdata_ms < 10000) {
if (imuSampleTime_ms - badIMUdata_ms < BAD_IMU_DATA_HOLD_MS) {
badIMUdata = true;
} else {
badIMUdata = false;

3
libraries/AP_NavEKF3/AP_NavEKF3_core.h
View File

@ -102,6 +102,9 @@
// Number of milliseconds of bad IMU data before a reset to vertical position and velocity height sources is performed
#define BAD_IMU_DATA_TIMEOUT_MS 1000
// number of milliseconds the bad IMU data response settings will be held after the last bad IMU data is detected
#define BAD_IMU_DATA_HOLD_MS 10000
class NavEKF3_core : public NavEKF_core_common
{
public: