fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 07:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Changed location of lots of flags and conditions, needs testing and more work

Browse Source
This commit is contained in:
Julian Oes
2013-07-16 18:56:31 +02:00
parent 6e44a486c1
commit bcdedd9a35
16 changed files with 149 additions and 164 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+7 -7
View File
@@ -57,7 +57,7 @@
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
@@ -214,8 +214,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
memset(&raw, 0, sizeof(raw));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
uint64_t last_data = 0;
uint64_t last_measurement = 0;
@@ -228,8 +228,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* subscribe to param changes */
int sub_params = orb_subscribe(ORB_ID(parameter_update));
/* subscribe to system state*/
int sub_state = orb_subscribe(ORB_ID(vehicle_status));
/* subscribe to control mode*/
int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
/* advertise attitude */
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
@@ -281,9 +281,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* XXX this is seriously bad - should be an emergency */
} else if (ret == 0) {
/* check if we're in HIL - not getting sensor data is fine then */
orb_copy(ORB_ID(vehicle_status), sub_state, &state);
orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode);
if (!state.flag_hil_enabled) {
if (!control_mode.flag_system_hil_enabled) {
fprintf(stderr,
"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
}