Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-23 13:24:03 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[ins] alt_float, bound dt and used fixed GPS_DT if defined

Browse Source
This commit is contained in:
Felix Ruess
2014-09-09 17:41:22 +02:00
parent 20ee0bb0d4
commit 12d0eca18d
1 changed files with 10 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/ins/ins_alt_float.c
+10
View File
@@ -144,6 +144,9 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, const float *pres
float dt = now_ts - last_ts;
last_ts = now_ts;
// bound dt (assume baro freq 1Hz-500Hz
Bound(dt, 0.002, 1.0)
if (!ins_impl.baro_initialized) {
ins_impl.qfe = *pressure;
ins_impl.baro_initialized = TRUE;
@@ -181,6 +184,9 @@ void ins_update_gps(void) {
utm.zone = nav_utm_zone0;
#if !USE_BAROMETER
#ifdef GPS_DT
const float dt = GPS_DT;
#else
// timestamp when last callback was received
static float last_ts = 0.f;
// current timestamp
@@ -189,6 +195,10 @@ void ins_update_gps(void) {
float dt = now_ts - last_ts;
last_ts = now_ts;
// bound dt (assume GPS freq between 0.5Hz and 50Hz)
Bound(dt, 0.02, 2)
#endif
float falt = gps.hmsl / 1000.0f;
if (ins_impl.reset_alt_ref) {
ins_impl.reset_alt_ref = FALSE;