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EKF: fix time of sample receive setting

This commit is contained in:
bugobliterator 2016-02-17 13:29:12 -08:00
parent de02aebafd
commit 2096e24c06
1 changed files with 2 additions and 3 deletions
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5
EKF/estimator_interface.cpp
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@ -180,9 +180,8 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float *data)
if (time_usec > _time_last_airspeed) {
airspeedSample airspeed_sample_new;
airspeed_sample_new.airspeed = *data;
airspeed_sample_new.time_us -= _params.airspeed_delay_ms * 1000;
airspeed_sample_new.time_us = time_usec -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
airspeed_sample_new.time_us = time_usec -_params.airspeed_delay_ms * 1000;
airspeed_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
_time_last_airspeed = time_usec;
_airspeed_buffer.push(airspeed_sample_new);