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EKF: start storing samples only when ekf is initialised

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This commit is contained in:
bugobliterator
2016-01-30 12:46:01 -08:00
parent b062bd2e38
commit 3cafedd4c1
1 changed files with 13 additions and 4 deletions
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EKF/estimator_base.cpp
+13 -4
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@@ -119,7 +119,7 @@ void EstimatorBase::setMagData(uint64_t time_usec, float *data)
void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
{
if(!collect_gps(time_usec, gps)) {
if(!collect_gps(time_usec, gps) || !_initialised) {
return;
}
@@ -150,7 +150,9 @@ void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
void EstimatorBase::setBaroData(uint64_t time_usec, float *data)
{
if(!collect_baro(time_usec, data) || !_initialised) {
return;
}
if (time_usec - _time_last_baro > 70000) {
baroSample baro_sample_new;
@@ -168,6 +170,9 @@ void EstimatorBase::setBaroData(uint64_t time_usec, float *data)
void EstimatorBase::setAirspeedData(uint64_t time_usec, float *data)
{
if(!collect_airspeed(time_usec, data) || !_initialised) {
return;
}
if (time_usec > _time_last_airspeed) {
airspeedSample airspeed_sample_new;
airspeed_sample_new.airspeed = *data;
@@ -183,13 +188,17 @@ void EstimatorBase::setAirspeedData(uint64_t time_usec, float *data)
// set range data
void EstimatorBase::setRangeData(uint64_t time_usec, float *data)
{
if(!collect_range(time_usec, data) || !_initialised) {
return;
}
}
// set optical flow data
void EstimatorBase::setOpticalFlowData(uint64_t time_usec, float *data)
{
if(!collect_opticalflow(time_usec, data) || !_initialised) {
return;
}
}
bool EstimatorBase::initialise_interface(uint64_t timestamp)