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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge2_attctrl_posctrl

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Conflicts:
	src/drivers/px4fmu/fmu.cpp
This commit is contained in:
Thomas Gubler
2015-02-01 11:06:47 +01:00
parent 7c958a2cca a2a244584e
commit 84ff3c671d
63 changed files with 807 additions and 484 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -3
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@@ -720,7 +720,7 @@ FixedwingEstimator::task_main()
* do subscriptions
*/
_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
_baro_sub = orb_subscribe_multi(ORB_ID(sensor_baro), 0);
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
@@ -1088,7 +1088,7 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
baro_last = _baro.timestamp;
@@ -1217,7 +1217,7 @@ FixedwingEstimator::task_main()
initVelNED[2] = _gps.vel_d_m_s;
// Set up height correctly
orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
// init filtered gps and baro altitudes