fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 19:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix limiting of dt

Browse Source
This commit is contained in:
tumbili
2015-10-15 16:06:42 +02:00
parent bb2e5b7c84
commit 99c1ae12eb
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/position_estimator_inav/position_estimator_inav_main.c
+1 -1
View File
@@ -897,7 +897,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f;
dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms
dt = fmaxf(fminf(0.02, dt), 0.0002); // constrain dt from 0.2 to 20 ms
t_prev = t;
/* increase EPH/EPV on each step */