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Clean 250 Hz updates in filter, partial updates enabled

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This commit is contained in:
Lorenz Meier
2012-10-03 13:39:26 +02:00
parent 992a415ffc
commit affa3af4e6
4 changed files with 82 additions and 21 deletions
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apps/position_estimator/position_estimator_main.c
+3 -2
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@@ -261,6 +261,7 @@ int position_estimator_main(int argc, char *argv[])
/* subscribe to vehicle status, attitude, gps */
struct vehicle_gps_position_s gps;
gps.fix_type = 0;
struct vehicle_status_s vstatus;
struct vehicle_attitude_s att;
@@ -283,8 +284,8 @@ int position_estimator_main(int argc, char *argv[])
/* Wait for the GPS update to propagate (we have some time) */
usleep(5000);
/* Read wether the vehicle status changed */
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus);
gps_valid = vstatus.gps_valid;
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
gps_valid = (gps.fix_type > 2);
}
}