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Merge branch 'master' into beta_mavlink2

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This commit is contained in:
Anton Babushkin
2014-03-11 19:31:20 +04:00
parent 9e41f6af18 b6a087e921
commit 0bcda7f8a6
2 changed files with 7 additions and 4 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+3
View File
@@ -477,6 +477,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
dt = 0.005f; dt = 0.005f;
parameters_update(&ekf_param_handles, &ekf_params); parameters_update(&ekf_param_handles, &ekf_params);
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
x_aposteriori_k[0] = z_k[0]; x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1]; x_aposteriori_k[1] = z_k[1];
x_aposteriori_k[2] = z_k[2]; x_aposteriori_k[2] = z_k[2];
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+4 -4
View File
@@ -350,12 +350,12 @@ private:
/* /*
* Reset takeoff state * Reset takeoff state
*/ */
int reset_takeoff_state(); void reset_takeoff_state();
/* /*
* Reset landing state * Reset landing state
*/ */
int reset_landing_state(); void reset_landing_state();
}; };
namespace l1_control namespace l1_control
@@ -1312,14 +1312,14 @@ FixedwingPositionControl::task_main()
_exit(0); _exit(0);
} }
int FixedwingPositionControl::reset_takeoff_state() void FixedwingPositionControl::reset_takeoff_state()
{ {
launch_detected = false; launch_detected = false;
usePreTakeoffThrust = false; usePreTakeoffThrust = false;
launchDetector.reset(); launchDetector.reset();
} }
int FixedwingPositionControl::reset_landing_state() void FixedwingPositionControl::reset_landing_state()
{ {
land_noreturn_horizontal = false; land_noreturn_horizontal = false;
land_noreturn_vertical = false; land_noreturn_vertical = false;