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Merge branch 'master' of github.com:PX4/Firmware into control_state

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Youssef Demitri
2015-10-14 13:44:55 +02:00
parent c22c678b7d 51707245bb
commit 36bfa58419
3 changed files with 12 additions and 4 deletions
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src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
+1
View File
@@ -180,6 +180,7 @@ private:
hrt_abstime _last_accel;
hrt_abstime _last_mag;
unsigned _prediction_steps;
uint64_t _prediction_last;
struct sensor_combined_s _sensor_combined;
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -1
View File
@@ -159,6 +159,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_last_accel(0),
_last_mag(0),
_prediction_steps(0),
_prediction_last(0),
_sensor_combined{},
@@ -1069,11 +1070,12 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
_covariancePredictionDt += _ekf->dtIMU;
// only fuse every few steps
if (_prediction_steps < MAX_PREDICITION_STEPS) {
if (_prediction_steps < MAX_PREDICITION_STEPS && ((hrt_absolute_time() - _prediction_last) < 20 * 1000)) {
_prediction_steps++;
return;
} else {
_prediction_steps = 0;
_prediction_last = hrt_absolute_time();
}
// perform a covariance prediction if the total delta angle has exceeded the limit