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range_finder_consistency_check: fix consistency check timeout units (#26497)

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* range_finder_consistency_check: fix consistency check timeout units

* explicit float

* format
This commit is contained in:
Jacob Dahl
2026-02-17 14:10:04 -09:00
committed by GitHub
parent d5ddc9135d
commit b2fc5993cc
1 changed files with 3 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+3 -1
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@@ -75,7 +75,9 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us) void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
{ {
if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) { if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
if ((time_us - _time_last_horizontal_motion) > _signed_test_ratio_tau) { uint64_t timeout_us = _signed_test_ratio_tau * 1e6f;
if ((time_us - _time_last_horizontal_motion) > timeout_us) {
_is_kinematically_consistent = false; _is_kinematically_consistent = false;
_time_last_inconsistent_us = time_us; _time_last_inconsistent_us = time_us;
} }