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AttPosEKF: Moved data collection to separate function

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This commit is contained in:
Johan Jansen 2015-02-12 11:49:45 +01:00
parent f5534dd5c1
commit 76901c6414
2 changed files with 484 additions and 463 deletions
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5
src/modules/commander/commander.cpp
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@ -1395,11 +1395,10 @@ int commander_thread_main(int argc, char *argv[])
if(status.condition_global_position_valid) {
set_tune_override(TONE_GPS_WARNING_TUNE);
status_changed = true;
status.condition_global_position_valid = false;
}
status.condition_global_position_valid = false;
}
else if(hrt_absolute_time() > POSITION_TIMEOUT) {
else if(global_position.timestamp != 0) {
//Got good global position estimate
if(!status.condition_global_position_valid) {
status_changed = true;

942
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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