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Update API to include baro altitude.

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Lorenz Meier
2014-01-31 10:00:26 +01:00
parent e32d92e732
commit 9695ae8cee
1 changed files with 3 additions and 1 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+3 -1
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@@ -400,6 +400,7 @@ FixedwingEstimator::task_main()
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
statesInitialised = false;
/* wakeup source(s) */
struct pollfd fds[2];
@@ -577,7 +578,7 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
/* XXX leverage baro */
baroHgt = _baro.altitude;
}
bool gps_updated;
@@ -601,6 +602,7 @@ FixedwingEstimator::task_main()
if (hrt_elapsed_time(&start_time) > 500000 && !_initialized) {
InitialiseFilter();
_initialized = true;
warnx("init done.");
continue;
}