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Slowed HIL status updates. Also prevented posCor. when gps not init.

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This commit is contained in:
James Goppert
2013-01-15 13:21:13 -05:00
parent 9cf3d51aec
commit 68b92cd4fc
2 changed files with 12 additions and 8 deletions
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apps/examples/kalman_demo/KalmanNav.cpp
+6 -2
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@@ -239,9 +239,10 @@ void KalmanNav::update()
}
// output
if (newTimeStamp - _outTimeStamp > 1e6) { // 1 Hz
if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
_outTimeStamp = newTimeStamp;
printf("nav: %4d Hz, misses fast: %4d slow: %4d\n", _navFrames, _missFast, _missSlow);
printf("nav: %4d Hz, misses fast: %4d slow: %4d\n",
_navFrames/10, _missFast/10, _missSlow/10);
_navFrames = 0;
_missFast = 0;
_missSlow = 0;
@@ -616,6 +617,9 @@ void KalmanNav::correctAtt()
void KalmanNav::correctPos()
{
using namespace math;
if (!_positionInitialized) return;
Vector y(5);
y(0) = _gps.vel_n - vN;
y(1) = _gps.vel_e - vE;