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@ -68,16 +68,11 @@ bool NavEKF2_core::setup_core(NavEKF2 *_frontend, uint8_t _imu_index, uint8_t _c
@@ -68,16 +68,11 @@ bool NavEKF2_core::setup_core(NavEKF2 *_frontend, uint8_t _imu_index, uint8_t _c
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than 100Hz is downsampled. For 50Hz main loop rate we need a |
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shorter buffer. |
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*/ |
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switch (_ahrs->get_ins().get_sample_rate()) { |
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case AP_InertialSensor::RATE_50HZ: |
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if (_ahrs->get_ins().get_sample_rate() < 100) { |
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imu_buffer_length = 13; |
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break; |
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case AP_InertialSensor::RATE_100HZ: |
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case AP_InertialSensor::RATE_200HZ: |
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case AP_InertialSensor::RATE_400HZ: |
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} else { |
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// maximum 260 msec delay at 100 Hz fusion rate
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imu_buffer_length = 26; |
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break; |
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} |
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if(!storedGPS.init(OBS_BUFFER_LENGTH)) { |
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return false; |
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@ -117,7 +112,7 @@ void NavEKF2_core::InitialiseVariables()
@@ -117,7 +112,7 @@ void NavEKF2_core::InitialiseVariables()
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{ |
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// calculate the nominal filter update rate
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const AP_InertialSensor &ins = _ahrs->get_ins(); |
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localFilterTimeStep_ms = (uint8_t)(1000.0f/(float)ins.get_sample_rate()); |
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localFilterTimeStep_ms = (uint8_t)(1000*ins.get_loop_delta_t()); |
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localFilterTimeStep_ms = MAX(localFilterTimeStep_ms,10); |
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// initialise time stamps
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@ -279,7 +274,7 @@ bool NavEKF2_core::InitialiseFilterBootstrap(void)
@@ -279,7 +274,7 @@ bool NavEKF2_core::InitialiseFilterBootstrap(void)
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InitialiseVariables(); |
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// Initialise IMU data
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dtIMUavg = 1.0f/_ahrs->get_ins().get_sample_rate(); |
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dtIMUavg = _ahrs->get_ins().get_loop_delta_t(); |
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dtEkfAvg = MIN(0.01f,dtIMUavg); |
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readIMUData(); |
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storedIMU.reset_history(imuDataNew); |
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