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allow testing ekf2 in simulation with jmavsim

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Roman
2015-12-06 13:24:42 +01:00
parent 5ded6884ed
commit 63ac712eab
4 changed files with 10 additions and 7 deletions
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src/modules/ekf2/CMakeLists.txt
+2 -2
View File
@@ -32,13 +32,13 @@
#############################################################################
set(MODULE_CFLAGS)
if (${OS} STREQUAL "nuttx")
list(APPEND MODULE_CFLAGS -Wframe-larger-than=30000)
list(APPEND MODULE_CFLAGS -Wframe-larger-than=60000)
endif()
px4_add_module(
MODULE modules__ekf2
MAIN ekf2
COMPILE_FLAGS ${MODULE_CFLAGS}
STACK 30000
STACK 60000
SRCS
ekf2_main.cpp
DEPENDS
src/modules/ekf2/ekf2_main.cpp
+4 -2
View File
@@ -68,7 +68,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/airspeed.h>
#include <ecl/EKF/estimator_base.h>
#include <ecl/EKF/ekf.h>
extern "C" __EXPORT int ekf2_main(int argc, char *argv[]);
@@ -128,7 +128,7 @@ private:
Ekf2::Ekf2()
{
_ekf = new EstimatorBase();
_ekf = new Ekf();
}
Ekf2::~Ekf2()
@@ -225,6 +225,8 @@ void Ekf2::task_main()
if (airspeed_updated) {
_ekf->setAirspeedData(airspeed.timestamp, &airspeed.indicated_airspeed_m_s);
}
_ekf->update();
}
}