From 099738f4bdb9d8804daf839ed1f84d2d683d2a2b Mon Sep 17 00:00:00 2001
From: zsmn <zsmn@cin.ufpe.br>
Date: Mon, 8 Feb 2021 10:04:09 -0300
Subject: [PATCH] Fixing kalman timer wrong measurement

---
 Suassuna-Dummy.pro                                  | 2 +-
 src/entities/vision/filters/kalman/kalmanfilter.cpp | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/Suassuna-Dummy.pro b/Suassuna-Dummy.pro
index 435e61d..c93d948 100644
--- 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
index d1acc19..d840af9 100644
--- 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...