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Use vision for heading reference whenever available, independent of GPS

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Lorenz Meier
2014-09-01 21:04:27 +02:00
parent cc944da1a4
commit 8eb5aeaae3
1 changed files with 1 additions and 1 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+1 -1
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@@ -457,7 +457,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision);
}
if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000) && gps.eph > 3.0f) {
if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) {
math::Quaternion q(vision.q);
math::Matrix<3, 3> R = q.to_dcm();