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change gyro & accel dt from float to uint64. This has the benefit of

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calculating the estimator timeslip correctly.

Signed-off-by: Nicolae Rosia <nicolae.rosia@gmail.com>
This commit is contained in:
Nicolae Rosia
2017-07-16 14:08:37 +02:00
committed by Lorenz Meier
parent 5618f34f3b
commit 0a22a9c47c
6 changed files with 25 additions and 23 deletions
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msg/ekf2_replay.msg
+2 -2
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@@ -1,6 +1,6 @@
float32 gyro_integral_dt # gyro integration period in s
float32 accelerometer_integral_dt # accelerometer integration period in s
uint64 gyro_integral_dt # gyro integration period in s
uint64 accelerometer_integral_dt # accelerometer integration period in s
uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
uint64 baro_timestamp # timestamp of barometer measurement in us
uint64 rng_timestamp # timestamp of range finder measurement in us