fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 06:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

make it compile again after merge

Browse Source
This commit is contained in:
Julian Oes
2014-04-27 11:48:03 +02:00
parent 03d87c2660
commit 470513d9bb
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+4 -4
View File
@@ -979,7 +979,7 @@ FixedwingEstimator::task_main()
// struct home_position_s home; // struct home_position_s home;
// orb_copy(ORB_ID(home_position), _home_sub, &home); // orb_copy(ORB_ID(home_position), _home_sub, &home);
if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) { if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph < _parameters.pos_stddev_threshold && _gps.epv < _parameters.pos_stddev_threshold) {
_ekf->velNED[0] = _gps.vel_n_m_s; _ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s; _ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s; _ekf->velNED[2] = _gps.vel_d_m_s;
@@ -1017,7 +1017,7 @@ FixedwingEstimator::task_main()
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt); mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt, warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]); (double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m); warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph, (double)_gps.epv);
_gps_initialized = true; _gps_initialized = true;
@@ -1259,8 +1259,8 @@ FixedwingEstimator::task_main()
_global_pos.lat = est_lat; _global_pos.lat = est_lat;
_global_pos.lon = est_lon; _global_pos.lon = est_lon;
_global_pos.time_gps_usec = _gps.time_gps_usec; _global_pos.time_gps_usec = _gps.time_gps_usec;
_global_pos.eph = _gps.eph_m; _global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv_m; _global_pos.epv = _gps.epv;
} }
if (_local_pos.v_xy_valid) { if (_local_pos.v_xy_valid) {