forked from Archive/PX4-Autopilot
fixed missing dt in ekf
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@ -1245,9 +1245,9 @@ void AttitudePositionEstimatorEKF::pollData()
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_ekf->dAngIMU.y = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 1];
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_ekf->dAngIMU.z = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 2];
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} else {
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_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]);
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_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]);
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_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]);
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_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]) * _ekf->dtIMU;
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_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]) * _ekf->dtIMU;
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_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]) * _ekf->dtIMU;
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}
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_ekf->angRate.x = _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0];
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@ -1265,9 +1265,9 @@ void AttitudePositionEstimatorEKF::pollData()
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_ekf->dVelIMU.y = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 1];
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_ekf->dVelIMU.z = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 2];
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} else {
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_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]);
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_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]);
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_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]);
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_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]) * _ekf->dtIMU;
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_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]) * _ekf->dtIMU;
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_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]) * _ekf->dtIMU;
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}
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_ekf->accel.x = _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0];
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