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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-09 23:54:04 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-09 23:54:04 +0100 |
| commit | efecd85658eecd0b0651a21c37d3936589074e91 (patch) | |
| tree | c61937fd22ffc9e2d3440b26eb3fe947df23776f /src/modules/fw_att_pos_estimator/estimator.h | |
| parent | c13f7d1f4b6db3d6be99b744eb454a6fcb706311 (diff) | |
| download | px4-firmware-efecd85658eecd0b0651a21c37d3936589074e91.tar.gz px4-firmware-efecd85658eecd0b0651a21c37d3936589074e91.tar.bz2 px4-firmware-efecd85658eecd0b0651a21c37d3936589074e91.zip | |
Further build cleanup
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.h')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index 01a1ace99..088304cb3 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -68,7 +68,6 @@ extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes cor extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad) extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s) -extern float dt; // time lapsed since last covariance prediction extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying) @@ -126,7 +125,7 @@ const float covDelAngMax = 0.05f; // maximum delta angle between covariance pred void UpdateStrapdownEquationsNED(); -void CovariancePrediction(); +void CovariancePrediction(float dt); void FuseVelposNED(); |