fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 17:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: fix Travis build error

Browse Source
This commit is contained in:
Paul Riseborough
2016-05-07 17:45:49 +10:00
parent 22f0f52bf1
commit 0c6a367e1b
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
+2 -2
View File
@@ -273,8 +273,8 @@ bool Ekf::update()
float local_time_step = 1e-6f*(float)(_baro_sample_delayed.time_us - last_baro_time_us);
local_time_step = math::constrain(local_time_step,0.0f,1.0f);
last_baro_time_us = _baro_sample_delayed.time_us;
float raw_offset_error = (_baro_sample_delayed.hgt - _hgt_sensor_offset) + _state.pos(2) - _baro_hgt_offset;
_baro_hgt_offset += local_time_step * math::constrain((0.1f * raw_offset_error), -0.1f, 0.1f);
float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt - _hgt_sensor_offset) + _state.pos(2) - _baro_hgt_offset;
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
}
}