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Revert "EKF: Fix bug in output observer"

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This reverts commit 03f3df7415.
This commit is contained in:
Paul Riseborough
2016-05-14 12:26:46 +09:30
parent 03f3df7415
commit 627d08ecc9
1 changed files with 4 additions and 1 deletions
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EKF/ekf.cpp
+4 -1
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@@ -674,7 +674,10 @@ void Ekf::calculateOutputStates()
_output_new.pos += (_output_new.vel + vel_last) * (imu_new.delta_vel_dt * 0.5f) + _vel_corr * imu_new.delta_vel_dt;
// store INS states in a ring buffer that with the same length and time coordinates as the IMU data buffer
_output_buffer.push(_output_new);
if (_imu_updated) {
_output_buffer.push(_output_new);
_imu_updated = false;
}
// get the oldest INS state data from the ring buffer
// this data will be at the EKF fusion time horizon