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EKF increase delta velocity process noise per axis if clipping (#663)

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Daniel Agar
2020-04-07 18:51:51 -04:00
committed by GitHub
parent d6b6276cdc
commit 47624a0f02
5 changed files with 25 additions and 1 deletions
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test/sensor_simulator/imu.cpp
+1 -1
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@@ -15,7 +15,7 @@ Imu::~Imu()
void Imu::send(uint64_t time)
{
imuSample imu_sample;
imuSample imu_sample{};
imu_sample.time_us = time;
imu_sample.delta_ang_dt = (time - _time_last_data_sent) * 1.e-6f;
imu_sample.delta_ang = _gyro_data * imu_sample.delta_ang_dt;