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EKF2 always use IMU timestamp as now

This commit is contained in:
Daniel Agar 2019-02-06 09:16:44 -05:00
parent 4c4ee67954
commit ddc9522712
1 changed files with 1 additions and 9 deletions
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10
src/modules/ekf2/ekf2_main.cpp
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@ -805,15 +805,7 @@ void Ekf2::run()
imu_bias_reset_request = !_ekf.reset_imu_bias(); imu_bias_reset_request = !_ekf.reset_imu_bias();
} }
// in replay mode we are getting the actual timestamp from the sensor topic const hrt_abstime now = sensors.timestamp;
hrt_abstime now = 0;
if (_replay_mode) {
now = sensors.timestamp;
} else {
now = hrt_absolute_time();
}
// push imu data into estimator // push imu data into estimator
float gyro_integral[3]; float gyro_integral[3];