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update ecl/EKF with improved covariance prediction stability and change default IMU integration period 4000 us -> 2500 us

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- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
    - the ecl/EKF filter update period has changed from 8 ms to 10 ms
 - change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
This commit is contained in:
Daniel Agar
2020-04-23 13:55:34 -04:00
committed by GitHub
parent 5819c82678
commit 31f3a21849
25 changed files with 26 additions and 26 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -318,8 +318,8 @@ MulticopterPositionControl::init()
return false;
}
// limit to every other vehicle_local_position update (~62.5 Hz)
_local_pos_sub.set_interval_us(16_ms);
// limit to every other vehicle_local_position update (50 Hz)
_local_pos_sub.set_interval_us(20_ms);
_time_stamp_last_loop = hrt_absolute_time();