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Code Issues Releases Activity

startup grace time for filter initialisation

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This commit is contained in:
Corvus Corax 2013-06-09 21:49:04 +02:00
parent 218e15ce61
commit d8f9f839f2
1 changed files with 8 additions and 0 deletions
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8
flight/modules/StateEstimation/stateestimation.c
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@ -311,6 +311,14 @@ static void StateEstimationCb(void)
static filterPipeline *current;
static stateEstimation states;
static uint32_t last_time;
static uint16_t bootDelay = 64;
// after system startup, first few sensor readings might be messed up, delay until everything has settled
if (bootDelay) {
bootDelay--;
DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
return;
}
switch (runState) {
case RUNSTATE_LOAD: