fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 08:07:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Fix wind publication, fix commented out flags

Browse Source
This commit is contained in:
Lorenz Meier
2014-07-27 23:38:14 +02:00
parent 17e82c5f7f
commit 5d36381dc5
1 changed files with 4 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+4 -23
View File
@@ -630,10 +630,10 @@ FixedwingEstimator::check_filter_state()
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3);
// rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4);
// rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5);
// rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6);
// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7);
rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4);
rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5);
rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6);
rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7);
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
@@ -1465,25 +1465,6 @@ FixedwingEstimator::task_main()
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
}
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = 0.0f; // XXX get form filter
_wind.covariance_east = 0.0f;
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {
/* publish the wind estimate */
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
} else {
/* advertise and publish */
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
}
}
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];