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Disable time compensation which gets us reasonable results

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Lorenz Meier
2014-02-23 18:31:44 -08:00
parent b36bf7b17e
commit acb1bc1383
1 changed files with 7 additions and 7 deletions
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src/modules/fw_att_pos_estimator/estimator.cpp
+7 -7
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@@ -1629,14 +1629,14 @@ void RecallStates(float (&statesForFusion)[n_states], uint32_t msec)
bestTimeDelta = timeDelta;
}
}
if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error
{
for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = storedStates[i][bestStoreIndex];
}
else // otherwise output current state
{
// if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error
// {
// for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = storedStates[i][bestStoreIndex];
// }
// else // otherwise output current state
// {
for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = states[i];
}
// }
}
void quat2Tnb(Mat3f &Tnb, const float (&quat)[4])