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failure detector: use multiplication instead of division

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Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Thomas Stastny
2022-11-30 14:51:07 -05:00
committed by Daniel Agar
co-authored by Daniel Agar
parent 4e8381e8cf
commit c5dc1221b6
1 changed files with 1 additions and 1 deletions
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src/modules/commander/failure_detector/FailureDetector.cpp
+1 -1
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@@ -324,7 +324,7 @@ void FailureDetector::updateImbalancedPropStatus()
if ((imu_status.accel_device_id != 0)
&& (imu_status.accel_device_id == _selected_accel_device_id)) {
const float dt = math::constrain(float(imu_status.timestamp - _imu_status_timestamp_prev) / 1_s, 0.01f, 1.f);
const float dt = math::constrain((imu_status.timestamp - _imu_status_timestamp_prev) * 1e-6f, 0.01f, 1.f);
_imu_status_timestamp_prev = imu_status.timestamp;
_imbalanced_prop_lpf.setParameters(dt, _imbalanced_prop_lpf_time_constant);