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limit maximum rates of all measurement at which they are stored into the buffers

master
Roman Bapst 9 years ago
parent
00c8821006
commit
6344fa0e8c
1 changed files with 4 additions and 4 deletions
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  1. 8
      EKF/estimator_interface.cpp

8
EKF/estimator_interface.cpp
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@ -145,7 +145,7 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float *data)
void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps) void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
{ {
// Limit the GPS data rate to a maximum of 14Hz // Limit the GPS data rate to a maximum of 14Hz
if (time_usec - _time_last_gps > 70000) { if (time_usec - _time_last_gps > 65000) {
gpsSample gps_sample_new = {}; gpsSample gps_sample_new = {};
gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000; gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;
@ -186,7 +186,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float *data)
return; return;
} }
if (time_usec - _time_last_baro > 70000) { if (time_usec - _time_last_baro > 68000) {
baroSample baro_sample_new; baroSample baro_sample_new;
baro_sample_new.hgt = *data; baro_sample_new.hgt = *data;
@ -226,7 +226,7 @@ void EstimatorInterface::setRangeData(uint64_t time_usec, float *data)
return; return;
} }
if (time_usec > _time_last_range) { if (time_usec - _time_last_range > 45000) {
rangeSample range_sample_new; rangeSample range_sample_new;
range_sample_new.rng = *data; range_sample_new.rng = *data;
rng = *data; rng = *data;
@ -247,7 +247,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
} }
// if data passes checks, push to buffer // if data passes checks, push to buffer
if (time_usec > _time_last_optflow) { if (time_usec - _time_last_optflow > 40000) {
// check if enough integration time // check if enough integration time
float delta_time = 1e-6f * (float)flow->dt; float delta_time = 1e-6f * (float)flow->dt;
bool delta_time_good = (delta_time >= 0.05f); bool delta_time_good = (delta_time >= 0.05f);

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