From 9d2017876080e7239065e6ea96d87861840de6ec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Mon, 20 Jun 2022 09:47:15 +0200 Subject: [PATCH] Use explicit delta from buffer --- src/processor/processor_imu.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp index fea5b04d6..45ad46687 100644 --- a/src/processor/processor_imu.cpp +++ b/src/processor/processor_imu.cpp @@ -343,7 +343,7 @@ VectorXd ProcessorImu::bootstrapDelta() const } // now compose with delta in last_ptr_ dt = last_ptr_->getBuffer().back().ts_ - origin_ptr_->getTimeStamp(); - const auto& delta = last_ptr_->getDeltaPreint(); + const auto& delta = last_ptr_->getBuffer().back().delta_integr_; delta_int = imu::compose(delta_int, delta, dt); return delta_int; -- GitLab