From 2096e24c06e502058d2c0b607695c356b77744ae Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Wed, 17 Feb 2016 13:29:12 -0800 Subject: [PATCH] EKF: fix time of sample receive setting --- EKF/estimator_interface.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index cf26c748d7..38685e52ec 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -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);