Fixing kalman timer wrong measurement

MaracatronicsRobotics · Feb 8, 2021 · 099738f · 099738f
1 parent 96f0d3b
commit 099738f
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/Suassuna-Dummy.pro b/Suassuna-Dummy.pro
@@ -9,7 +9,7 @@ QT += core    \
 TEMPLATE = app
 DESTDIR  = ../bin
 TARGET   = Suassuna-Dummy
-VERSION  = 1.0.1
+VERSION  = 1.0.2
 
 CONFIG += c++14 console
 CONFIG -= app_bundle

diff --git a/src/entities/vision/filters/kalman/kalmanfilter.cpp b/src/entities/vision/filters/kalman/kalmanfilter.cpp
@@ -82,7 +82,7 @@ void KalmanFilter::iterate(const Position &pos) {
 
     // Get iteration time
     _timer.stop();
-    const float T = _timer.getMiliSeconds();
+    const float T = _timer.getSeconds();
     _timer.start();
 
     // Initial states
@@ -122,7 +122,7 @@ void KalmanFilter::predict() {
 
     // Get iteration time
     _timer.stop();
-    const float T = _timer.getMiliSeconds()*1E-3;
+    const float T = _timer.getSeconds();
     _timer.start();
 
     // Check initial states, if do not have, quit. cannot make prevision...