Smaller window to save imu values

rpng · Jun 15, 2021 · 8ebb782 · 8ebb782
1 parent fae7144
commit 8ebb782
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/ov_msckf/src/state/Propagator.h b/ov_msckf/src/state/Propagator.h
@@ -107,12 +107,12 @@ namespace ov_msckf {
             // Append it to our vector
             imu_data.emplace_back(message);
 
-            // Loop through and delete imu messages that are older then 20 seconds
+            // Loop through and delete imu messages that are older then 10 seconds
             // TODO: we should probably have more elegant logic then this
             // TODO: but this prevents unbounded memory growth and slow prop with high freq imu
             auto it0 = imu_data.begin();
             while(it0 != imu_data.end()) {
-                if(message.timestamp-(*it0).timestamp > 20) {
+                if(message.timestamp-(*it0).timestamp > 10) {
                     it0 = imu_data.erase(it0);
                 } else {
                     it0++;

diff --git a/ov_msckf/src/update/UpdaterZeroVelocity.h b/ov_msckf/src/update/UpdaterZeroVelocity.h
@@ -95,12 +95,12 @@ namespace ov_msckf {
             //    return i.timestamp < j.timestamp;
             //});
 
-            // Loop through and delete imu messages that are older then 20 seconds
+            // Loop through and delete imu messages that are older then 10 seconds
             // TODO: we should probably have more elegant logic then this
             // TODO: but this prevents unbounded memory growth and slow prop with high freq imu
             auto it0 = imu_data.begin();
             while(it0 != imu_data.end()) {
-                if(message.timestamp-(*it0).timestamp > 60) {
+                if(message.timestamp-(*it0).timestamp > 10) {
                     it0 = imu_data.erase(it0);
                 } else {
                     it0++;