fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 07:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: fix bug causing faulty imu data storage

Browse Source
This commit is contained in:
bugobliterator
2016-01-29 23:56:24 -08:00
parent 92dc41e885
commit a779d45cd0
2 changed files with 2 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
+1 -2
View File
@@ -87,7 +87,6 @@ bool Ekf::update()
return false;
}
}
//printStates();
//printStatesFast();
// prediction
@@ -289,7 +288,7 @@ bool Ekf::collect_imu(imuSample &imu)
if ((_dt_imu_avg * _imu_ticks >= (float)(FILTER_UPDATE_PERRIOD_MS) / 1000 && _start_predict_enabled) ||
_dt_imu_avg * _imu_ticks >= 0.02f){
_imu_sample_new = {
imu = {
delta_ang : _q_down_sampled.to_axis_angle(),
delta_vel : _imu_down_sampled.delta_vel,
delta_ang_dt : _imu_down_sampled.delta_ang_dt,