position_estimator_inav: hotfix, change lower dt limit from 5 ms to 2 ms

src/modules/position_estimator_inav/inertial_filter.c

@@ -15,10 +15,7 @@ void inertial_filter_predict(float dt, float x[3])
 
 void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
 {
-	float ewdt = w * dt;
-	if (ewdt > 1.0f)
-		ewdt = 1.0f;	// prevent over-correcting
-	ewdt *= e;
+	float ewdt = e * w * dt;
 	x[i] += ewdt;
 
 	if (i == 0) {

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -623,7 +623,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		}
 
 		float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f;
-		dt = fmaxf(fminf(0.02, dt), 0.005);
+		dt = fmaxf(fminf(0.02, dt), 0.002);		// constrain dt from 2 to 20 ms
 		t_prev = t;
 
 		/* use GPS if it's valid and reference position initialized */