added static gps mode and init mag state correctly

2026-10-22 16:43:34 +08:00 · 2015-12-22 11:22:17 +01:00
parent f153a7cb44
commit 5e5d6f432a
3 changed files with 14 additions and 5 deletions
@@ -69,7 +69,7 @@ void EstimatorBase::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64

 	_time_last_imu = time_usec;

-	if (_imu_time_last > 0) {
+	if (_time_last_imu > 0) {
 		_dt_imu_avg = 0.8f * _dt_imu_avg + 0.2f * dt;
 	}