From 4c2c74a6364199cc6317a41d346f3882d640cbbe Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 16 Sep 2021 09:28:17 +0200
Subject: [PATCH] scrab frequency of kf

---
 yaml/scrab/processor_gnss.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/yaml/scrab/processor_gnss.yaml b/yaml/scrab/processor_gnss.yaml
index 8712d1a..852736f 100644
--- a/yaml/scrab/processor_gnss.yaml
+++ b/yaml/scrab/processor_gnss.yaml
@@ -10,7 +10,7 @@ fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true
-  max_time_span: 0.5
+  max_time_span: 0.1
   min_features_for_keyframe: 0 #4
 gnss:
   sateph: 6    # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
-- 
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