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failure detector: fix dt computation

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bresch
2022-01-18 12:24:35 -05:00
committed by Daniel Agar
parent 7eee949a81
commit 408cf011b2
1 changed files with 2 additions and 0 deletions
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src/modules/commander/failure_detector/FailureDetector.cpp
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@@ -191,6 +191,8 @@ void FailureDetector::updateImbalancedPropStatus()
if ((imu_status.accel_device_id != 0)
&& (imu_status.accel_device_id == _selected_accel_device_id)) {
const float dt = math::constrain((float)(imu_status.timestamp - _imu_status_timestamp_prev), 0.01f, 1.f);
_imu_status_timestamp_prev = imu_status.timestamp;
_imbalanced_prop_lpf.setParameters(dt, _imbalanced_prop_lpf_time_constant);
const float var_x = imu_status.var_accel[0];