Commit 4d576f38 authored by asantamaria's avatar asantamaria

moved main loop at 1000Hz

parent 6c8950b5
......@@ -12,7 +12,7 @@ EskfOdomAlgNode::EskfOdomAlgNode(void) :
algorithm_base::IriBaseAlgorithm<EskfOdomAlgorithm>()
{
// Initialize all vars
this->loop_rate_ = 200; //in [Hz]
this->loop_rate_ = 1000; //in [Hz]
this->seq_ = 0;
this->flying_ = false;
this->range_dist_ = Eigen::VectorXf::Zero(1); // a little bit more than the minimum distance PX4 can detect (0.3m)
......@@ -510,7 +510,7 @@ void EskfOdomAlgNode::set_px4_reading(const px_comm::OpticalFlow::ConstPtr& msg,
// // this->alg_.set_px4_params(px4_params);
// // }
this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
// this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
//*****************************
// USING RANGE AND RAW FLOW
......@@ -534,8 +534,8 @@ void EskfOdomAlgNode::set_px4_reading(const px_comm::OpticalFlow::ConstPtr& msg,
// this->alg_.set_flow2d_params(flow2d_params);
// }
//this->alg_.set_range_reading(msg_time, this->range_dist_); // Set values into filter object
//this->alg_.set_flow2d_reading(msg_time, flow); // Set values into filter object
this->alg_.set_range_reading(msg_time, this->range_dist_); // Set values into filter object
this->alg_.set_flow2d_reading(msg_time, flow); // Set values into filter object
// Temporary
if (this->range_dist_(0) > 0.31)
......
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