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EKF: Update comments

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Paul Riseborough
2016-01-28 08:13:38 +11:00
parent 4526cb9c4f
commit cc50d26601
2 changed files with 5 additions and 4 deletions
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EKF/gps_checks.cpp
+1 -1
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@@ -88,7 +88,7 @@ bool EstimatorBase::gps_is_good(struct gps_message *gps)
_gps_alt_ref = gps->alt * 1e-3f;
}
// Calculate time lapsesd since last update, limit to prevent numerical errors and calculate the lowpass filter coefficient
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate the lowpass filter coefficient
const float filtTimeConst = 10.0f;
float dt = fminf(fmaxf(float(_time_last_imu - _last_gps_origin_time_us)*1e-6f,0.001f),filtTimeConst);
float filterCoef = dt/filtTimeConst;