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Q estimator: Use all available sensor instances

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Lorenz Meier
2015-08-30 11:51:26 +02:00
parent f539246e4f
commit 0732ec650f
1 changed files with 1 additions and 1 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+1 -1
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@@ -289,7 +289,7 @@ void AttitudeEstimatorQ::task_main()
if (!orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors)) {
// Feed validator with recent sensor data
for (unsigned i = 0; i < 2; i++) {
for (unsigned i = 0; i < (sizeof(sensors.gyro_timestamp) / sizeof(sensors.gyro_timestamp[0])); i++) {
_voter_gyro.put(i, sensors.gyro_timestamp[i], &sensors.gyro_rad_s[i * 3], sensors.gyro_errcount[i]);
_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3], sensors.accelerometer_errcount[i]);
_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3], sensors.magnetometer_errcount[i]);