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More fixes, but things are pretty NaN still

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Lorenz Meier
2014-01-02 17:08:24 +01:00
parent f0740df53a
commit 17ac30f1b1
1 changed files with 8 additions and 3 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+8 -3
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@@ -407,8 +407,8 @@ FixedwingEstimator::task_main()
float IMUmsec = _gyro.timestamp / 1e3;
float deltaT = (_gyro.timestamp - last_run) / 1000000.0f;
last_run = _gyro.timestamp / 1e6 ;
float deltaT = (_gyro.timestamp - last_run) / 1e6f;
last_run = _gyro.timestamp;
/* guard against too large deltaT's */
if (deltaT > 1.0f)
@@ -659,7 +659,12 @@ int fw_att_pos_estimator_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (estimator::g_estimator) {
errx(0, "running");
warnx("running");
warnx("attitude: %8.4f, %8.4f, %8.4f", eulerEst[0], eulerEst[1], eulerEst[2]);
warnx("states [1-3]: %8.4f, %8.4f, %8.4f", states[0], states[1], states[2]);
warnx("states [4-6]: %8.4f, %8.4f, %8.4f", states[3], states[4], states[5]);
warnx("states [7-9]: %8.4f, %8.4f, %8.4f", states[6], states[7], states[8]);
exit(0);
} else {
errx(1, "not running");