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Merged master into cmake-2

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Lorenz Meier
2015-09-20 10:33:39 +02:00
parent 36ae7c129d ecb45b656a
commit 6ef94e0dfb
45 changed files with 1858 additions and 985 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+6 -6
View File
@@ -383,10 +383,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_timestamp[0] != raw.timestamp) {
if (sensor_last_timestamp[0] != raw.gyro_timestamp[0]) {
update_vect[0] = 1;
// sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
sensor_last_timestamp[0] = raw.gyro_timestamp[0];
}
z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0];
@@ -394,10 +394,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp[0]) {
update_vect[1] = 1;
// sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.accelerometer_timestamp;
sensor_last_timestamp[1] = raw.accelerometer_timestamp[0];
}
hrt_abstime vel_t = 0;
@@ -437,14 +437,14 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
z_k[5] = raw.accelerometer_m_s2[2] - acc(2);
/* update magnetometer measurements */
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp &&
if (sensor_last_timestamp[2] != raw.magnetometer_timestamp[0] &&
/* check that the mag vector is > 0 */
fabsf(sqrtf(raw.magnetometer_ga[0] * raw.magnetometer_ga[0] +
raw.magnetometer_ga[1] * raw.magnetometer_ga[1] +
raw.magnetometer_ga[2] * raw.magnetometer_ga[2])) > 0.1f) {
update_vect[2] = 1;
// sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
sensor_last_timestamp[2] = raw.magnetometer_timestamp;
sensor_last_timestamp[2] = raw.magnetometer_timestamp[0];
}
bool vision_updated = false;
src/modules/attitude_estimator_ekf/module.mk
+1 -1
View File
@@ -46,5 +46,5 @@ MODULE_STACKSIZE = 1200
EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3700
ifeq ($(PX4_TARGET_OS),nuttx)
EXTRACXXFLAGS = -Wframe-larger-than=2400
EXTRACXXFLAGS = -Wframe-larger-than=2600
endif