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Merge pull request #1873 from Zefz/ekf-dead-reckoning-fix

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AttPosEKF dead reckoning fix
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Lorenz Meier
2015-03-07 12:07:28 +01:00
parent 25a924f8d6 e0d1e3ca5e
commit d8b64a05d7
4 changed files with 250 additions and 178 deletions
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src/modules/commander/commander.cpp
+1 -1
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@@ -133,7 +133,7 @@ extern struct system_load_s system_load;
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define POSITION_TIMEOUT (1 * 1000 * 1000) /**< consider the local or global position estimate invalid after 1000ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define OFFBOARD_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000