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attitude_q : ignore blank fields

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This commit is contained in:
Kabir Mohammed 2015-11-12 14:50:49 +05:30
parent 0f489a194f
commit 2d776aca14
1 changed files with 9 additions and 4 deletions
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13
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@ -347,11 +347,16 @@ void AttitudeEstimatorQ::task_main()
_voter_gyro.put(i, sensors.gyro_timestamp[i], &gyro[0], sensors.gyro_errcount[i], sensors.gyro_priority[i]);
}
_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3],
sensors.accelerometer_errcount[i], sensors.accelerometer_priority[i]);
_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3],
/* ignore empty fields */
if (sensors.accelerometer_timestamp[i] > 0) {
_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3],
sensors.accelerometer_errcount[i], sensors.accelerometer_priority[i]);
}
/* ignore empty fields */
if (sensors.magnetometer_timestamp[i] > 0) {
_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3],
sensors.magnetometer_errcount[i], sensors.magnetometer_priority[i]);
}
}
int best_gyro, best_accel, best_mag;