yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

mavlink : track time offset faster

Browse Source
This commit is contained in:
Kabir Mohammed
2017-01-08 23:55:55 +05:30
committed by Lorenz Meier
parent d831c262d0
commit 48e7b94162
1 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/mavlink/mavlink_receiver.cpp
View File

@@ -146,7 +146,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_offboard_control_mode{}, _offboard_control_mode{},
_att_sp{}, _att_sp{},
_rates_sp{}, _rates_sp{},
_time_offset_avg_alpha(0.6), _time_offset_avg_alpha(0.8),
_time_offset(0), _time_offset(0),
_orb_class_instance(-1), _orb_class_instance(-1),
_mom_switch_pos{}, _mom_switch_pos{},
@@ -2503,9 +2503,8 @@ uint64_t MavlinkReceiver::sync_stamp(uint64_t usec)
void MavlinkReceiver::smooth_time_offset(int64_t offset_ns) void MavlinkReceiver::smooth_time_offset(int64_t offset_ns)
{ {
/* alpha = 0.6 fixed for now. The closer alpha is to 1.0, /* The closer alpha is to 1.0, the faster the moving
* the faster the moving average updates in response to * average updates in response to new offset samples.
* new offset samples.
*/ */
_time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset; _time_offset = (_time_offset_avg_alpha * offset_ns) + (1.0 - _time_offset_avg_alpha) * _time_offset;