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ekf2: selector remove special timeout condition

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- this mainly produces false positives when disarmed and bench testing
This commit is contained in:
Daniel Agar
2021-09-28 10:50:45 -04:00
parent ed7c5991eb
commit c39a21aa54
1 changed files with 1 additions and 6 deletions
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src/modules/ekf2/EKF2Selector.cpp
+1 -6
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@@ -251,12 +251,7 @@ bool EKF2Selector::UpdateErrorScores()
bool primary_updated = false; bool primary_updated = false;
// default estimator timeout // default estimator timeout
hrt_abstime status_timeout = 50_ms; const hrt_abstime status_timeout = 50_ms;
if (hrt_elapsed_time(&_attitude_last.timestamp) > FILTER_UPDATE_PERIOD) {
// much lower timeout if current primary estimator attitude isn't publishing
status_timeout = 2 * FILTER_UPDATE_PERIOD;
}
// calculate individual error scores // calculate individual error scores
for (uint8_t i = 0; i < EKF2_MAX_INSTANCES; i++) { for (uint8_t i = 0; i < EKF2_MAX_INSTANCES; i++) {