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Remove on arming reset, be less verbose in normal conditions output

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Lorenz Meier
2016-08-05 11:13:17 +02:00
committed by James Goppert
parent 699b6a2cb3
commit 08f5ece306
6 changed files with 36 additions and 26 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+23 -17
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@@ -254,28 +254,34 @@ void BlockLocalPositionEstimator::update()
}
// reset pos, vel, and terrain on arming
if (!_lastArmedState && armedState) {
// we just armed, we are at origin on the ground
_x(X_x) = 0;
_x(X_y) = 0;
// XXX this will be re-enabled for indoor use cases using a
// selection param, but is really not helping outdoors
// right now.
// reset flow integral
_flowX = 0;
_flowY = 0;
// if (!_lastArmedState && armedState) {
// we aren't moving, all velocities are zero
_x(X_vx) = 0;
_x(X_vy) = 0;
_x(X_vz) = 0;
// // we just armed, we are at origin on the ground
// _x(X_x) = 0;
// _x(X_y) = 0;
// // reset Z or not? _x(X_z) = 0;
// assume we are on the ground, so terrain alt is local alt
_x(X_tz) = _x(X_z);
// // reset flow integral
// _flowX = 0;
// _flowY = 0;
// reset lowpass filter as well
_xLowPass.setState(_x);
_aglLowPass.setState(0);
}
// // we aren't moving, all velocities are zero
// _x(X_vx) = 0;
// _x(X_vy) = 0;
// _x(X_vz) = 0;
// // assume we are on the ground, so terrain alt is local alt
// _x(X_tz) = _x(X_z);
// // reset lowpass filter as well
// _xLowPass.setState(_x);
// _aglLowPass.setState(0);
// }
_lastArmedState = armedState;