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take into account laneded and armed flag for ekf2 replay

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tumbili
2016-02-27 11:51:05 +01:00
committed by Lorenz Meier
parent 2e40d4d4fd
commit 36e3600809
2 changed files with 28 additions and 14 deletions
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src/modules/ekf2/ekf2_main.cpp
+1 -13
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@@ -133,7 +133,6 @@ private:
int _gps_sub = -1;
int _airspeed_sub = -1;
int _params_sub = -1;
int _control_mode_sub = -1;
int _vehicle_status_sub = -1;
bool _prev_motors_armed = false; // motors armed status from the previous frame
@@ -272,7 +271,6 @@ void Ekf2::task_main()
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
px4_pollfd_struct_t fds[2] = {};
@@ -321,7 +319,6 @@ void Ekf2::task_main()
bool gps_updated = false;
bool airspeed_updated = false;
bool control_mode_updated = false;
bool vehicle_status_updated = false;
orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors);
@@ -338,16 +335,6 @@ void Ekf2::task_main()
orb_copy(ORB_ID(airspeed), _airspeed_sub, &airspeed);
}
// Use the control model data to determine if the motors are armed as a surrogate for an on-ground vs in-air status
// TODO implement a global vehicle on-ground/in-air check
// XXX: Look at the land_detection module!
orb_check(_control_mode_sub, &control_mode_updated);
if (control_mode_updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &vehicle_control_mode);
_ekf->set_arm_status(vehicle_control_mode.flag_armed);
}
// in replay mode we are getting the actual timestamp from the sensor topic
hrt_abstime now = 0;
if (_replay_mode) {
@@ -402,6 +389,7 @@ void Ekf2::task_main()
struct vehicle_status_s status = {};
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &status);
_ekf->set_in_air_status(!status.condition_landed);
_ekf->set_arm_status(status.arming_state & vehicle_status_s::ARMING_STATE_ARMED);
}
// run the EKF update