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position_estimator_inav: land detector bug fixed

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This commit is contained in:
Anton Babushkin
2013-09-05 12:20:03 +02:00
parent a022a3800c
commit 1d7f3d0aa5
1 changed files with 5 additions and 5 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+5 -5
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@@ -53,7 +53,7 @@
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -181,7 +181,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
uint32_t baro_counter = 0;
/* declare and safely initialize all structs */
struct actuator_controls_effective_s actuator;
struct actuator_controls_s actuator;
memset(&actuator, 0, sizeof(actuator));
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
@@ -200,7 +200,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* subscribe */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -337,7 +337,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* actuator */
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_sub, &actuator);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_sub, &actuator);
}
/* armed */
@@ -546,7 +546,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
alt_disp = alt_disp * alt_disp;
float land_disp2 = params.land_disp * params.land_disp;
/* get actual thrust output */
float thrust = armed.armed ? actuator.control_effective[3] : 0.0f;
float thrust = armed.armed ? actuator.control[3] : 0.0f;
if (landed) {
if (alt_disp > land_disp2 && thrust > params.land_thr) {