Time differentials (repo update)

The Open­Shoe run­time frame­work and the Nav­i­ga­tion algo­rithm repos has recently been updated to use time depen­dent time dif­fer­en­tials. A clock reg­is­ter is read out on every inter­rupt and the result­ing time dif­fer­en­tials are used to adjust the “dt” in the mech­a­niza­tion equa­tions and the fil­ter. This we have found nec­es­sary if the IMU is free run­ning since the IMU oscil­la­tor has clock pace vari­a­tions (pri­mar­ily between dif­fer­ent units) of plus-minus 1%. Under some con­di­tions this gives sig­nif­i­cant per­for­mance degra­da­tion. The resent patch fixes this.

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