dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

EKF: reduce prediction time step from 12 to 8 sec 

Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
This commit is contained in:
Paul Riseborough 2017-11-02 18:01:43 +11:00 committed by Lorenz Meier
parent f921b2de5c
commit bba3f70a0e
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
EKF/estimator_interface.h
View File

@ -349,7 +349,7 @@ public:
return _imu_updated; return _imu_updated;
} }
static const unsigned FILTER_UPDATE_PERIOD_MS = 12; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta static const unsigned FILTER_UPDATE_PERIOD_MS = 8; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
protected: protected: