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EKF: protect covariance prediction from delta time errors

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Allow time step to vary by a factor of 2 to allow for jitter.
This commit is contained in:
Paul Riseborough 2017-04-06 13:00:07 +10:00
parent fa07536314
commit bef7325884
1 changed files with 1 additions and 1 deletions
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2
EKF/covariance.cpp
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@ -143,7 +143,7 @@ void Ekf::predictCovariance()
float dvy_b = _state.accel_bias(1);
float dvz_b = _state.accel_bias(2);
float dt = _imu_sample_delayed.delta_ang_dt;
float dt = math::constrain(_imu_sample_delayed.delta_ang_dt, 0.0005f * FILTER_UPDATE_PERIOD_MS, 0.002f * FILTER_UPDATE_PERIOD_MS);
// compute noise variance for stationary processes
float process_noise[_k_num_states] = {};