From c955bfbf932587135e52e6cbbe9d0077ade0253d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 15 May 2016 20:36:51 +1000 Subject: [PATCH] EKF: fix previous merge error --- EKF/ekf.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index aaf25c9d7e..e15cb646a5 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -572,7 +572,7 @@ void Ekf::predictState() // filter and limit input between -50% and +100% of nominal value input = math::constrain(input,0.0005f * (float)(FILTER_UPDATE_PERRIOD_MS),0.002f * (float)(FILTER_UPDATE_PERRIOD_MS)); - _dt_ekf_avg = 0.99f*_dt_ekf_avg + 0.005f*(_imu_sample_delayed.delta_vel_dt + _imu_sample_delayed.delta_ang_dt); + _dt_ekf_avg = 0.99f * _dt_ekf_avg + 0.01f * input; } bool Ekf::collect_imu(imuSample &imu)