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EKF2: Fix GPS blending time jitter

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CarlOlsson
2020-02-26 07:39:47 +01:00
committed by Beat Küng
parent a38b167614
commit 7e00dcd382
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+1 -1
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@@ -1833,7 +1833,7 @@ bool Ekf2::blend_gps_data()
float dt_min = 0.3f; float dt_min = 0.3f;
for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) { for (uint8_t i = 0; i < GPS_MAX_RECEIVERS; i++) {
float raw_dt = 0.001f * (float)(_gps_state[i].time_usec - _time_prev_us[i]); float raw_dt = 1e-6f * (float)(_gps_state[i].time_usec - _time_prev_us[i]);
if (raw_dt > 0.0f && raw_dt < 0.3f) { if (raw_dt > 0.0f && raw_dt < 0.3f) {
_gps_dt[i] = 0.1f * raw_dt + 0.9f * _gps_dt[i]; _gps_dt[i] = 0.1f * raw_dt + 0.9f * _gps_dt[i];