From 99c1ae12eb4fb47386a1fb0885c351cb1a4a3a9b Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 15 Oct 2015 16:05:31 +0200 Subject: [PATCH] fix limiting of dt --- .../position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index df8773b169..53a7c678f6 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -897,7 +897,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f; - dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms + dt = fmaxf(fminf(0.02, dt), 0.0002); // constrain dt from 0.2 to 20 ms t_prev = t; /* increase EPH/EPV on each step */