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global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt

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Anton Babushkin
2014-01-28 20:40:05 +01:00
parent 48f1b7e1c7
commit 6a1a29f77e
11 changed files with 69 additions and 34 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+1 -1
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@@ -410,7 +410,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
vel(2) = gps.vel_d_m_s;
}
} else if (ekf_params.acc_comp == 2 && global_pos.valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
} else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) {
vel_valid = true;
if (global_pos_updated) {
vel_t = global_pos.timestamp;