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Various HIL-related fixes

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This commit is contained in:
Anton Babushkin
2013-11-27 23:04:49 +04:00
parent f1fece2bb6
commit 3c027a8e4d
2 changed files with 9 additions and 13 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+5 -6
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@@ -236,13 +236,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error */
errx(1, "subscriptions poll error on init.");
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
} else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_counter > baro_counter) {
if (wait_baro && sensor.baro_counter != baro_counter) {
baro_counter = sensor.baro_counter;
/* mean calculation over several measurements */
@@ -320,8 +320,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ret < 0) {
/* poll error */
warnx("subscriptions poll error.");
thread_should_exit = true;
mavlink_log_info(mavlink_fd, "[inav] poll error on init");
continue;
} else if (ret > 0) {
@@ -355,7 +354,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds[4].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (sensor.accelerometer_counter > accel_counter) {
if (sensor.accelerometer_counter != accel_counter) {
if (att.R_valid) {
/* correct accel bias, now only for Z */
sensor.accelerometer_m_s2[2] -= accel_bias[2];
@@ -381,7 +380,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
accel_updates++;
}
if (sensor.baro_counter > baro_counter) {
if (sensor.baro_counter != baro_counter) {
baro_corr = - sensor.baro_alt_meter - z_est[0];
baro_counter = sensor.baro_counter;
baro_updates++;