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ekf2: fix drag data downsampling

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setDragData needs the imu data at full speed to downsample it without
skipping samples.
This commit is contained in:
bresch
2023-01-03 10:03:46 +01:00
committed by Daniel Agar
parent 34c57cc5b5
commit 0509f612dd
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+2 -2
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@@ -86,9 +86,9 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
// calculate the minimum interval between observations required to guarantee no loss of data // calculate the minimum interval between observations required to guarantee no loss of data
// this will occur if data is overwritten before its time stamp falls behind the fusion time horizon // this will occur if data is overwritten before its time stamp falls behind the fusion time horizon
_min_obs_interval_us = (imu_sample.time_us - _imu_sample_delayed.time_us) / (_obs_buffer_length - 1); _min_obs_interval_us = (imu_sample.time_us - _imu_sample_delayed.time_us) / (_obs_buffer_length - 1);
setDragData(imu_sample);
} }
setDragData(imu_sample);
} }
void EstimatorInterface::setMagData(const magSample &mag_sample) void EstimatorInterface::setMagData(const magSample &mag_sample)