From eb80e0410c02740d13f9d66857456e9ba0a5a4a6 Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Thu, 24 Nov 2022 15:06:06 +0100 Subject: [PATCH] failure detector: fix imbalanced prop metric time interval --- src/modules/commander/failure_detector/FailureDetector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp index 5be44f9aff..c0e7d55937 100644 --- a/src/modules/commander/failure_detector/FailureDetector.cpp +++ b/src/modules/commander/failure_detector/FailureDetector.cpp @@ -324,7 +324,7 @@ void FailureDetector::updateImbalancedPropStatus() if ((imu_status.accel_device_id != 0) && (imu_status.accel_device_id == _selected_accel_device_id)) { - const float dt = math::constrain((float)(imu_status.timestamp - _imu_status_timestamp_prev), 0.01f, 1.f); + const float dt = math::constrain(float(imu_status.timestamp - _imu_status_timestamp_prev) / 1_s, 0.01f, 1.f); _imu_status_timestamp_prev = imu_status.timestamp; _imbalanced_prop_lpf.setParameters(dt, _imbalanced_prop_lpf_time_constant);