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Various small non-functional improvements

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kamilritz
2020-01-08 09:00:31 +01:00
committed by Mathieu Bresciani
parent deeac03d6a
commit 1fcfd394dd
3 changed files with 16 additions and 42 deletions
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EKF/estimator_interface.cpp
+1 -1
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@@ -367,7 +367,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// check if enough integration time and fail if integration time is less than 50%
// of min arrival interval because too much data is being lost
float delta_time = 1e-6f * (float)flow->dt; // in seconds
float delta_time_min = 0.5f * 1e-6f * (float)_min_obs_interval_us;
const float delta_time_min = 0.5e-6f * (float)_min_obs_interval_us;
bool delta_time_good = delta_time >= delta_time_min;
bool flow_magnitude_good = true;