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EKF: correct documentation

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Paul Riseborough
2016-05-26 21:42:56 +10:00
parent d5b5cb5899
commit 7dd123094f
1 changed files with 2 additions and 1 deletions
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EKF/estimator_interface.cpp
+2 -1
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@@ -119,7 +119,8 @@ void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, u
// get the oldest data from the buffer
_imu_sample_delayed = _imu_buffer.get_oldest();
// calculate the minimum interval between required to guarantee no loss of data
// calculate the minimum interval between observations required to guarantee no loss of data
// this will occur if data is overwritten before its time stamp falls behind the fusion time horizon
_min_obs_interval_us = (_imu_sample_new.time_us - _imu_sample_delayed.time_us)/(OBS_BUFFER_LENGTH - 1);
} else {