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update distance sensor separate from flow

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Andreas Antener
2015-11-24 10:30:18 +01:00
parent a87ffe9bf3
commit 67dd28e2c4
1 changed files with 5 additions and 1 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+5 -1
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@@ -526,9 +526,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
orb_check(optical_flow_sub, &updated);
orb_check(distance_sensor_sub, &updated2);
/* update lidar separately, needed by terrain estimator */
if (updated2) {
orb_copy(ORB_ID(distance_sensor), distance_sensor_sub, &lidar);
}
if (updated && updated2) {
orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
orb_copy(ORB_ID(distance_sensor), distance_sensor_sub, &lidar);
/* calculate time from previous update */
// float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;