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fix limiting of dt

This commit is contained in:
tumbili 2015-10-15 16:05:31 +02:00
parent bb2e5b7c84
commit 99c1ae12eb
1 changed files with 1 additions and 1 deletions
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2
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -897,7 +897,7 @@ 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), 0.002); // constrain dt from 2 to 20 ms
dt = fmaxf(fminf(0.02, dt), 0.0002); // constrain dt from 0.2 to 20 ms
t_prev = t;
/* increase EPH/EPV on each step */