From bba3f70a0e3a0a63271e6f76ec169148723991c9 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 2 Nov 2017 18:01:43 +1100 Subject: [PATCH] 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. --- EKF/estimator_interface.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index bbdb63ca91..f764dccac4 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -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: