fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 07:50:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Q estimator: Feed validator with right timestamp

Browse Source
This commit is contained in:
Lorenz Meier
2015-06-27 16:05:13 +02:00
parent 7feb25bf58
commit 822b818c3c
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+5 -5
View File
@@ -265,11 +265,11 @@ void AttitudeEstimatorQ::task_main()
if (!orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors)) {
// Feed validator with recent sensor data
_voter_gyro.put(0, sensors.timestamp, sensors.gyro_rad_s, sensors.gyro_errcount);
_voter_gyro.put(1, sensors.timestamp, sensors.gyro1_rad_s, sensors.gyro1_errcount);
_voter_accel.put(0, sensors.timestamp, sensors.accelerometer_m_s2, sensors.accelerometer_errcount);
_voter_accel.put(1, sensors.timestamp, sensors.accelerometer1_m_s2, sensors.accelerometer_errcount);
_voter_mag.put(0, sensors.timestamp, sensors.magnetometer_ga, sensors.magnetometer_errcount);
_voter_mag.put(1, sensors.timestamp, sensors.magnetometer1_ga, sensors.magnetometer1_errcount);
_voter_gyro.put(1, sensors.gyro1_timestamp, sensors.gyro1_rad_s, sensors.gyro1_errcount);
_voter_accel.put(0, sensors.accelerometer_timestamp, sensors.accelerometer_m_s2, sensors.accelerometer_errcount);
_voter_accel.put(1, sensors.accelerometer1_timestamp, sensors.accelerometer1_m_s2, sensors.accelerometer1_errcount);
_voter_mag.put(0, sensors.magnetometer_timestamp, sensors.magnetometer_ga, sensors.magnetometer_errcount);
_voter_mag.put(1, sensors.magnetometer1_timestamp, sensors.magnetometer1_ga, sensors.magnetometer1_errcount);
// Get best measurement values
int best_gyro, best_accel, best_mag;