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hfilter: take gps lag into account.

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GPS update is performed on state saved GPS_LAG seconds ago. Rerun all
propagation steps since GPS update. Rerunning the propagation steps
still need to be spread over several cycles.
This commit is contained in:
Felix Ruess
2009-08-31 18:46:26 +00:00
parent 2c676750e4
commit 35691e9262
9 changed files with 220 additions and 24 deletions
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conf/airframes/booz2_flixr.xml
+1 -1
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@@ -204,7 +204,7 @@
include $(CFG_BOOZ)/subsystems/booz2_ahrs_cmpl.makefile
#enable horizontal filter
ap.CFLAGS += -DUSE_HFF -DHFF_PRESCALER=16
ap.CFLAGS += -DUSE_HFF -DHFF_PRESCALER=16 -DGPS_LAG=0.2
</makefile>