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Merge branch 'release_v1.0.0'

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Lorenz Meier
2015-07-04 10:47:18 +02:00
parent 234aeb642b 8f4b9c02f0
commit 95eaebb28d
7 changed files with 53 additions and 23 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+13 -3
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@@ -78,6 +78,8 @@ static constexpr float POS_RESET_THRESHOLD = 5.0f; ///< Seconds before we sig
static constexpr unsigned MAG_SWITCH_HYSTERESIS = 10; ///< Ignore the first few mag failures (which amounts to a few milliseconds)
static constexpr unsigned GYRO_SWITCH_HYSTERESIS = 5; ///< Ignore the first few gyro failures (which amounts to a few milliseconds)
static constexpr unsigned ACCEL_SWITCH_HYSTERESIS = 5; ///< Ignore the first few accel failures (which amounts to a few milliseconds)
static constexpr float EPH_LARGE_VALUE = 1000.0f;
static constexpr float EPV_LARGE_VALUE = 1000.0f;
/**
* estimator app start / stop handling function
@@ -936,8 +938,16 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
_global_pos.yaw = _local_pos.yaw;
_global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv;
const float dtLastGoodGPS = static_cast<float>(hrt_absolute_time() - _previousGPSTimestamp) / 1e6f;
if (_gps.timestamp_position == 0 || (dtLastGoodGPS >= POS_RESET_THRESHOLD)) {
_global_pos.eph = EPH_LARGE_VALUE;
_global_pos.epv = EPV_LARGE_VALUE;
} else {
_global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv;
}
if (!PX4_ISFINITE(_global_pos.lat) ||
!PX4_ISFINITE(_global_pos.lon) ||
@@ -1436,7 +1446,7 @@ void AttitudePositionEstimatorEKF::pollData()
// If it has gone more than POS_RESET_THRESHOLD amount of seconds since we received a GPS update,
// then something is very wrong with the GPS (possibly a hardware failure or comlink error)
const float dtLastGoodGPS = static_cast<float>(_gps.timestamp_position - _previousGPSTimestamp) / 1e6f;
const float dtLastGoodGPS = static_cast<float>(hrt_absolute_time() - _previousGPSTimestamp) / 1e6f;
if (dtLastGoodGPS >= POS_RESET_THRESHOLD) {