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position_estimator_inav: use independent estimate for distance to ground (sonar), WIP

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Anton Babushkin
2013-10-10 19:10:45 +02:00
parent aedb97f38e
commit 86c53bee43
4 changed files with 26 additions and 23 deletions
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src/modules/sdlog2/sdlog2.c
+2
View File
@@ -1046,8 +1046,10 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
log_msg.body.log_LPOS.dist_bottom = buf.local_pos.dist_bottom;
log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
src/modules/sdlog2/sdlog2_messages.h
+3 -1
View File
@@ -109,8 +109,10 @@ struct log_LPOS_s {
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
float dist_bottom;
uint8_t xy_flags;
uint8_t z_flags;
uint8_t dist_flags;
uint8_t landed;
};
@@ -281,7 +283,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
LOG_FORMAT(LPOS, "ffffffLLffBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,DstB,XYFl,ZFl,DstFl,Land"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),