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EKF: fix travis build error

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Paul Riseborough
2016-05-07 17:06:45 +10:00
parent 9e53ff2f80
commit 22f0f52bf1
1 changed files with 3 additions and 2 deletions
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EKF/ekf.cpp
+3 -2
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@@ -270,10 +270,11 @@ bool Ekf::update()
} else { } else {
// calculate a filtered offset between the baro origin and local NED origin if we are not using the baro as a height reference // calculate a filtered offset between the baro origin and local NED origin if we are not using the baro as a height reference
float dt = math::constrain(1e-6f*(float)(_baro_sample_delayed.time_us - last_baro_time_us),0.0f,1.0f); 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; 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; float raw_offset_error = (_baro_sample_delayed.hgt - _hgt_sensor_offset) + _state.pos(2) - _baro_hgt_offset;
_baro_hgt_offset += dt * math::constrain(0.1f * raw_offset_error, -0.1f, 0.1f); _baro_hgt_offset += local_time_step * math::constrain((0.1f * raw_offset_error), -0.1f, 0.1f);
} }
} }