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fixed computation of range measurement timestamp

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2016-08-12 09:00:41 +02:00
parent df0f8fed45
commit d53f532079
1 changed files with 1 additions and 3 deletions
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4
EKF/estimator_interface.cpp
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@ -241,9 +241,7 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float *data)
rangeSample range_sample_new = {};
range_sample_new.rng = *data;
rng = *data;
range_sample_new.time_us -= _params.range_delay_ms * 1000;
range_sample_new.time_us = time_usec;
range_sample_new.time_us = time_usec - _params.range_delay_ms * 1000;
_time_last_range = time_usec;
_range_buffer.push(range_sample_new);