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mavlink : track time offset faster

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Kabir Mohammed 2017-01-08 23:55:55 +05:30 committed by Lorenz Meier
parent d831c262d0
commit 48e7b94162
1 changed files with 3 additions and 4 deletions
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7
src/modules/mavlink/mavlink_receiver.cpp
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@ -146,7 +146,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_offboard_control_mode{},
_att_sp{},
_rates_sp{},
_time_offset_avg_alpha(0.6),
_time_offset_avg_alpha(0.8),
_time_offset(0),
_orb_class_instance(-1),
_mom_switch_pos{},
@ -2503,9 +2503,8 @@ uint64_t MavlinkReceiver::sync_stamp(uint64_t usec)
void MavlinkReceiver::smooth_time_offset(int64_t offset_ns)
{
/* alpha = 0.6 fixed for now. The closer alpha is to 1.0,
* the faster the moving average updates in response to
* new offset samples.
/* The closer alpha is to 1.0, the faster the moving
* average updates in response to new offset samples.
*/
_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;