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EKF: Fix use of incorrect timestamp

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This was incorrectly using the IMU (1/250 sec) timestamp instead of the EKF (1/100 sec) value.
The corresponding accelerometer limit has been made a parameter and adjusted to match previous behaviour.
This commit is contained in:
Paul Riseborough
2017-03-10 10:14:06 +01:00
committed by Lorenz Meier
parent 879ad1fd2c
commit cf31945038
2 changed files with 8 additions and 2 deletions
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EKF/ekf_helper.cpp
+2 -2
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@@ -535,11 +535,11 @@ void Ekf::constrainStates()
}
for (int i = 0; i < 3; i++) {
_state.gyro_bias(i) = math::constrain(_state.gyro_bias(i), -0.349066f * _dt_imu_avg, 0.349066f * _dt_imu_avg);
_state.gyro_bias(i) = math::constrain(_state.gyro_bias(i), -0.349066f * _dt_ekf_avg, 0.349066f * _dt_ekf_avg);
}
for (int i = 0; i < 3; i++) {
_state.accel_bias(i) = math::constrain(_state.accel_bias(i), -1.0f * _dt_imu_avg, 1.0f * _dt_imu_avg);
_state.accel_bias(i) = math::constrain(_state.accel_bias(i), -_params.acc_bias_lim * _dt_ekf_avg, _params.acc_bias_lim * _dt_ekf_avg);
}
for (int i = 0; i < 3; i++) {