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ekf: calculate the delta time between consecutive baro measurments

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(used for calculating filtered baro offset when primary height source
is not baro)

Signed-off-by: Roman <bapstroman@gmail.com>
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Roman
2017-06-15 09:10:43 +02:00
committed by ChristophTobler
parent a0ab5cf0d7
commit 36bffd2571
2 changed files with 9 additions and 0 deletions
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EKF/ekf.h
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@@ -261,6 +261,7 @@ private:
float _imu_collection_time_adj{0.0f}; // the amount of time the IMU collection needs to be advanced to meet the target set by FILTER_UPDATE_PERIOD_MS (sec)
uint64_t _time_acc_bias_check{0}; // last time the accel bias check passed (usec)
uint64_t _delta_time_baro_us{0}; // delta time between two consecutive delayed baro samples from the buffer (usec)
Vector3f _earth_rate_NED; // earth rotation vector (NED) in rad/s