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protect against overflow

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kamilritz
2020-01-21 10:09:48 +03:00
committed by Roman Bapst
parent 4be9ae8029
commit 83b2abe434
1 changed files with 2 additions and 2 deletions
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EKF/estimator_interface.cpp
+2 -2
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@@ -264,7 +264,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
// by baro data by taking the average of incoming sample // by baro data by taking the average of incoming sample
_baro_sample_count++; _baro_sample_count++;
_baro_alt_sum += baro_alt_meter; _baro_alt_sum += baro_alt_meter;
_baro_timestamp_sum += time_usec; _baro_timestamp_sum += time_usec / 1000; // Dividing by 1000 to avoid overflow
// limit data rate to prevent data being lost // limit data rate to prevent data being lost
if ((time_usec - _time_last_baro) > _min_obs_interval_us) { if ((time_usec - _time_last_baro) > _min_obs_interval_us) {
@@ -275,7 +275,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_alt_avg); baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_alt_avg);
// Use the time in the middle of the downsampling interval for the sample // Use the time in the middle of the downsampling interval for the sample
baro_sample_new.time_us = _baro_timestamp_sum / _baro_sample_count; baro_sample_new.time_us = 1000 * (_baro_timestamp_sum / _baro_sample_count);
baro_sample_new.time_us -= _params.baro_delay_ms * 1000; baro_sample_new.time_us -= _params.baro_delay_ms * 1000;
baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2; baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
baro_sample_new.time_us = math::max(baro_sample_new.time_us, _imu_sample_delayed.time_us); baro_sample_new.time_us = math::max(baro_sample_new.time_us, _imu_sample_delayed.time_us);