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AP_NavEKF3: INS get_sample_rate() renamed to get_loop_rate_hz()

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This commit is contained in:
Andy Piper 2020-05-21 19:31:34 +01:00 committed by Andrew Tridgell
parent e39e24bd18
commit e35458cedf
2 changed files with 3 additions and 3 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -686,7 +686,7 @@ bool NavEKF3::InitialiseFilter(void)
imuSampleTime_us = AP_HAL::micros64();
// remember expected frame time
_frameTimeUsec = 1e6 / ins.get_sample_rate();
_frameTimeUsec = 1e6 / ins.get_loop_rate_hz();
// expected number of IMU frames per prediction
_framesPerPrediction = uint8_t((EKF_TARGET_DT / (_frameTimeUsec * 1.0e-6) + 0.5));

4
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -51,8 +51,8 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index)
*/
// Calculate the expected EKF time step
if (AP::ins().get_sample_rate() > 0) {
dtEkfAvg = 1.0f / AP::ins().get_sample_rate();
if (AP::ins().get_loop_rate_hz() > 0) {
dtEkfAvg = 1.0f / AP::ins().get_loop_rate_hz();
dtEkfAvg = MAX(dtEkfAvg,EKF_TARGET_DT);
} else {
return false;