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EKF: reduce prediction time step from 12 to 8 sec 

Reduces susceptibility to incorrect estimation of acceleration bias during sustained yaw rate.
Requires an increase in RAM allocation of 837 Bytes to allow for the longer IMU and output predictor buffers that can be created.
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Paul Riseborough 7 years ago committed by Lorenz Meier
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1 changed files with 1 additions and 1 deletions
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  1. 2
      EKF/estimator_interface.h

2
EKF/estimator_interface.h
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@ -349,7 +349,7 @@ public: @@ -349,7 +349,7 @@ public:
return _imu_updated;
}
static const unsigned FILTER_UPDATE_PERIOD_MS = 12; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
static const unsigned FILTER_UPDATE_PERIOD_MS = 8; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
protected:

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