|
|
|
@ -396,7 +396,7 @@ bool NavEKF2_core::readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &d
@@ -396,7 +396,7 @@ bool NavEKF2_core::readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &d
|
|
|
|
|
if (ins_index < ins.get_accel_count()) { |
|
|
|
|
ins.get_delta_velocity(ins_index,dVel); |
|
|
|
|
dVel_dt = MAX(ins.get_delta_velocity_dt(ins_index),1.0e-4f); |
|
|
|
|
dVel_dt = MIN(ins.get_delta_velocity_dt(ins_index),1.0e-1f); |
|
|
|
|
dVel_dt = MIN(dVel_dt,1.0e-1f); |
|
|
|
|
return true; |
|
|
|
|
} |
|
|
|
|
return false; |
|
|
|
@ -539,7 +539,7 @@ bool NavEKF2_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAng
@@ -539,7 +539,7 @@ bool NavEKF2_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAng
|
|
|
|
|
ins.get_delta_angle(ins_index,dAng); |
|
|
|
|
frontend->logging.log_imu = true; |
|
|
|
|
dAng_dt = MAX(ins.get_delta_angle_dt(imu_index),1.0e-4f); |
|
|
|
|
dAng_dt = MIN(dt,1.0e-1f); |
|
|
|
|
dAng_dt = MIN(dAng_dt,1.0e-1f); |
|
|
|
|
return true; |
|
|
|
|
} |
|
|
|
|
return false; |
|
|
|
|