fixed missing dt in ekf

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -1245,9 +1245,9 @@ void AttitudePositionEstimatorEKF::pollData()
 			_ekf->dAngIMU.y = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 1];
 			_ekf->dAngIMU.z = _sensor_combined.gyro_integral_rad[_gyro_main * 3 + 2];
 		} else {
-			_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]);
-			_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]);
-			_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]);
+			_ekf->dAngIMU.x = 0.5f * (_ekf->angRate.x + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0]) * _ekf->dtIMU;
+			_ekf->dAngIMU.y = 0.5f * (_ekf->angRate.y + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 1]) * _ekf->dtIMU;
+			_ekf->dAngIMU.z = 0.5f * (_ekf->angRate.z + _sensor_combined.gyro_rad_s[_gyro_main * 3 + 2]) * _ekf->dtIMU;
 		}
 
 		_ekf->angRate.x = _sensor_combined.gyro_rad_s[_gyro_main * 3 + 0];
@@ -1265,9 +1265,9 @@ void AttitudePositionEstimatorEKF::pollData()
 			_ekf->dVelIMU.y = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 1];
 			_ekf->dVelIMU.z = _sensor_combined.accelerometer_integral_m_s[_accel_main * 3 + 2];
 		} else {
-			_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]);
-			_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]);
-			_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]);
+			_ekf->dVelIMU.x = 0.5f * (_ekf->accel.x + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0]) * _ekf->dtIMU;
+			_ekf->dVelIMU.y = 0.5f * (_ekf->accel.y + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 1]) * _ekf->dtIMU;
+			_ekf->dVelIMU.z = 0.5f * (_ekf->accel.z + _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 2]) * _ekf->dtIMU;
 		}
 
 		_ekf->accel.x = _sensor_combined.accelerometer_m_s2[_accel_main * 3 + 0];