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Merge pull request #184 from PX4/pr-rngDelayFix 

fixed computation of range measurement timestamp
This commit is contained in:
Paul Riseborough 2016-10-04 09:13:19 +11:00 committed by GitHub
parent b29174d86b d53f532079
commit 5ab90048e1
1 changed files with 1 additions and 3 deletions
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4
EKF/estimator_interface.cpp
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@ -241,9 +241,7 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float *data)
rangeSample range_sample_new = {};
range_sample_new.rng = *data;
rng = *data;
range_sample_new.time_us -= _params.range_delay_ms * 1000;
range_sample_new.time_us = time_usec;
range_sample_new.time_us = time_usec - _params.range_delay_ms * 1000;
_time_last_range = time_usec;
_range_buffer.push(range_sample_new);