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voted_sensors_update: increase accel & gyro timeout in HIL mode

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Beat Küng 2017-03-09 11:15:01 +01:00 committed by Lorenz Meier
parent 3a737097ee
commit bc91005e7a
1 changed files with 5 additions and 0 deletions
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5
src/modules/sensors/voted_sensors_update.cpp
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@ -82,6 +82,11 @@ VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_en
_baro.voter.set_timeout(300000);
_mag.voter.set_timeout(300000);
_mag.voter.set_equal_value_threshold(1000);
if (_hil_enabled) { // HIL has less accurate timing so increase the timeouts a bit
_gyro.voter.set_timeout(200000);
_accel.voter.set_timeout(200000);
}
}
int VotedSensorsUpdate::init(sensor_combined_s &raw)