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EKF: use delta_time to avoid division by zero

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ChristophTobler
2017-10-11 15:15:06 +02:00
parent d293c4231d
commit cdf6e6cd36
1 changed files with 1 additions and 1 deletions
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EKF/estimator_interface.cpp
+1 -1
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@@ -324,7 +324,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
optflow_sample_new.flowRadXYcomp(0) = optflow_sample_new.flowRadXY(0) - optflow_sample_new.gyroXYZ(0); optflow_sample_new.flowRadXYcomp(0) = optflow_sample_new.flowRadXY(0) - optflow_sample_new.gyroXYZ(0);
optflow_sample_new.flowRadXYcomp(1) = optflow_sample_new.flowRadXY(1) - optflow_sample_new.gyroXYZ(1); optflow_sample_new.flowRadXYcomp(1) = optflow_sample_new.flowRadXY(1) - optflow_sample_new.gyroXYZ(1);
// convert integration interval to seconds // convert integration interval to seconds
optflow_sample_new.dt = 1e-6f * (float)flow->dt; optflow_sample_new.dt = delta_time;
_time_last_optflow = time_usec; _time_last_optflow = time_usec;
// push to buffer // push to buffer
_flow_buffer.push(optflow_sample_new); _flow_buffer.push(optflow_sample_new);