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ekf: use uint64_t for time variables

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bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent 9fc331b7ea
commit baf9cc9597
3 changed files with 15 additions and 15 deletions
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src/modules/ekf2/EKF/control.cpp
+1 -1
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@@ -140,7 +140,7 @@ void Ekf::controlFusionModes()
const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
_rng_consistency_check.update(_range_sensor.getDistBottom(), getRngHeightVariance(), _state.vel(2), P(6, 6), static_cast<float>(_time_last_imu) * 1e-6f);
_rng_consistency_check.update(_range_sensor.getDistBottom(), getRngHeightVariance(), _state.vel(2), P(6, 6), _time_last_imu);
}
}