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EKF: fix previous merge error

master
Paul Riseborough 9 years ago
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920d83d68c
commit
c955bfbf93
1 changed files with 1 additions and 1 deletions
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  1. 2
      EKF/ekf.cpp

2
EKF/ekf.cpp
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@ -572,7 +572,7 @@ void Ekf::predictState()
// filter and limit input between -50% and +100% of nominal value // filter and limit input between -50% and +100% of nominal value
input = math::constrain(input,0.0005f * (float)(FILTER_UPDATE_PERRIOD_MS),0.002f * (float)(FILTER_UPDATE_PERRIOD_MS)); input = math::constrain(input,0.0005f * (float)(FILTER_UPDATE_PERRIOD_MS),0.002f * (float)(FILTER_UPDATE_PERRIOD_MS));
_dt_ekf_avg = 0.99f*_dt_ekf_avg + 0.005f*(_imu_sample_delayed.delta_vel_dt + _imu_sample_delayed.delta_ang_dt); _dt_ekf_avg = 0.99f * _dt_ekf_avg + 0.01f * input;
} }
bool Ekf::collect_imu(imuSample &imu) bool Ekf::collect_imu(imuSample &imu)

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