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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-23 18:31:44 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-23 18:31:44 -0800 |
| commit | acb1bc1383399465f3183df6a61698dbc9f5e958 (patch) | |
| tree | cf2e872378cf8b182a2271fce045428dc1f09d67 /src/modules/fw_att_pos_estimator | |
| parent | b36bf7b17e4827465d1d543a00ea3898813c77ea (diff) | |
| download | px4-firmware-acb1bc1383399465f3183df6a61698dbc9f5e958.tar.gz px4-firmware-acb1bc1383399465f3183df6a61698dbc9f5e958.tar.bz2 px4-firmware-acb1bc1383399465f3183df6a61698dbc9f5e958.zip | |
Disable time compensation which gets us reasonable results
Diffstat (limited to 'src/modules/fw_att_pos_estimator')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.cpp | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp index 0f2559c58..a7c2cb0e3 100644 --- a/src/modules/fw_att_pos_estimator/estimator.cpp +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -1629,14 +1629,14 @@ void RecallStates(float (&statesForFusion)[n_states], uint32_t msec) bestTimeDelta = timeDelta; } } - if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error - { - for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = storedStates[i][bestStoreIndex]; - } - else // otherwise output current state - { + // if (bestTimeDelta < 200) // only output stored state if < 200 msec retrieval error + // { + // for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = storedStates[i][bestStoreIndex]; + // } + // else // otherwise output current state + // { for (uint8_t i=0; i < n_states; i++) statesForFusion[i] = states[i]; - } + // } } void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]) |