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Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs

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Conflicts:
	src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
	src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
	src/modules/fw_att_control/fw_att_control_main.cpp
This commit is contained in:
Thomas Gubler 2013-11-05 15:56:49 +01:00
commit c0285ae815
1 changed files with 3 additions and 6 deletions
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9
src/modules/att_pos_estimator_ekf/KalmanNav.cpp
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@ -34,7 +34,7 @@
/**
* @file KalmanNav.cpp
*
* kalman filter navigation code
* Kalman filter navigation code
*/
#include <poll.h>
@ -228,10 +228,7 @@ void KalmanNav::update()
updateSubscriptions();
// initialize attitude when sensors online
if (!_attitudeInitialized && sensorsUpdate &&
_sensors.accelerometer_counter > 10 &&
_sensors.gyro_counter > 10 &&
_sensors.magnetometer_counter > 10) {
if (!_attitudeInitialized && sensorsUpdate) {
if (correctAtt() == ret_ok) _attitudeInitCounter++;
if (_attitudeInitCounter > 100) {
@ -643,7 +640,7 @@ int KalmanNav::correctAtt()
if (beta > _faultAtt.get()) {
warnx("fault in attitude: beta = %8.4f", (double)beta);
warnx("y:\n"); y.print();
warnx("y:"); y.print();
}
// update quaternions from euler