fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 08:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Att Q Estimator: New vision timestamp

Browse Source
This commit is contained in:
Lorenz Meier
2016-07-10 12:43:10 +02:00
parent 07384d6b5a
commit 4f875560b7
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+2 -2
View File
@@ -401,10 +401,10 @@ void AttitudeEstimatorQ::task_main()
// Check for timeouts on data
if (_ext_hdg_mode == 1) {
_ext_hdg_good = _vision.timestamp_boot > 0 && (hrt_elapsed_time(&_vision.timestamp_boot) < 500000);
_ext_hdg_good = _vision.timestamp > 0 && (hrt_elapsed_time(&_vision.timestamp) < 500000);
} else if (_ext_hdg_mode == 2) {
_ext_hdg_good = _mocap.timestamp_boot > 0 && (hrt_elapsed_time(&_mocap.timestamp_boot) < 500000);
_ext_hdg_good = _mocap.timestamp > 0 && (hrt_elapsed_time(&_mocap.timestamp) < 500000);
}
bool gpos_updated;