Copter: cleanup EKF failsafe units and division

ArduPilot · Feb 9, 2024 · 1837a9a · 1837a9a
1 parent e8b4010
commit 1837a9a
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -1238,6 +1238,7 @@ const AP_Param::GroupInfo ParametersG2::var_info2[] = {
     // @DisplayName: EKF Failsafe filter cutoff
     // @Description: EKF Failsafe filter cutoff frequency. EKF variances are filtered using this value to avoid spurious failsafes from transient high variances. A higher value means the failsafe is more likely to trigger.
     // @Range: 0 10
+    // @Units: Hz
     // @User: Advanced
     AP_GROUPINFO("FS_EKF_FILT", 8, ParametersG2, fs_ekf_filt_hz, FS_EKF_FILT_DEFAULT),
 

diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
@@ -123,7 +123,7 @@ bool Copter::ekf_over_threshold()
     }
 
     uint32_t now_us = AP_HAL::micros();
-    float dt = (now_us - last_ekf_check_us) / 1000000.0f;
+    float dt = (now_us - last_ekf_check_us) * 1e-6f;
 
     // always update filtered values as this serves the vibration check as well
     position_var = pos_variance_filt.apply(position_var, dt);