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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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src/modules/commander/commander.cpp
+2 -3
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@@ -1395,11 +1395,10 @@ int commander_thread_main(int argc, char *argv[])
if(status.condition_global_position_valid) { if(status.condition_global_position_valid) {
set_tune_override(TONE_GPS_WARNING_TUNE); set_tune_override(TONE_GPS_WARNING_TUNE);
status_changed = true; 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 //Got good global position estimate
if(!status.condition_global_position_valid) { if(!status.condition_global_position_valid) {
status_changed = true; status_changed = true;
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+482 -460
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