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Disable time compensation for further testing

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Lorenz Meier
2014-05-10 17:17:25 +02:00
parent 3e3a64f0ed
commit da67b2b241
1 changed files with 33 additions and 33 deletions
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src/modules/ekf_att_pos_estimator/estimator.cpp
+33 -33
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@@ -1815,41 +1815,41 @@ int AttPosEKF::RecallStates(float* statesForFusion, uint64_t msec)
{
int ret = 0;
int64_t bestTimeDelta = 200;
unsigned bestStoreIndex = 0;
for (unsigned storeIndex = 0; storeIndex < data_buffer_size; storeIndex++)
{
// Work around a GCC compiler bug - we know 64bit support on ARM is
// sketchy in GCC.
uint64_t timeDelta;
// int64_t bestTimeDelta = 200;
// unsigned bestStoreIndex = 0;
// for (unsigned storeIndex = 0; storeIndex < data_buffer_size; storeIndex++)
// {
// // Work around a GCC compiler bug - we know 64bit support on ARM is
// // sketchy in GCC.
// uint64_t timeDelta;
if (msec > statetimeStamp[storeIndex]) {
timeDelta = msec - statetimeStamp[storeIndex];
} else {
timeDelta = statetimeStamp[storeIndex] - msec;
}
// if (msec > statetimeStamp[storeIndex]) {
// timeDelta = msec - statetimeStamp[storeIndex];
// } else {
// timeDelta = statetimeStamp[storeIndex] - msec;
// }
if (timeDelta < bestTimeDelta)
{
bestStoreIndex = storeIndex;
bestTimeDelta = timeDelta;
}
}
if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error
{
for (unsigned i=0; i < n_states; i++) {
if (isfinite(storedStates[i][bestStoreIndex])) {
statesForFusion[i] = storedStates[i][bestStoreIndex];
} else if (isfinite(states[i])) {
statesForFusion[i] = states[i];
} else {
// There is not much we can do here, except reporting the error we just
// found.
ret++;
}
}
}
else // otherwise output current state
// if (timeDelta < bestTimeDelta)
// {
// bestStoreIndex = storeIndex;
// bestTimeDelta = timeDelta;
// }
// }
// if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error
// {
// for (unsigned i=0; i < n_states; i++) {
// if (isfinite(storedStates[i][bestStoreIndex])) {
// statesForFusion[i] = storedStates[i][bestStoreIndex];
// } else if (isfinite(states[i])) {
// statesForFusion[i] = states[i];
// } else {
// // There is not much we can do here, except reporting the error we just
// // found.
// ret++;
// }
// }
// }
// else // otherwise output current state
{
for (unsigned i = 0; i < n_states; i++) {
if (isfinite(states[i])) {