fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 03:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
parent c96a2eac6d d3b267c06e
commit c0285ae815
1 changed files with 3 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+3 -6
View File
@@ -34,7 +34,7 @@
/** /**
* @file KalmanNav.cpp * @file KalmanNav.cpp
* *
* kalman filter navigation code * Kalman filter navigation code
*/ */
#include <poll.h> #include <poll.h>
@@ -228,10 +228,7 @@ void KalmanNav::update()
updateSubscriptions(); updateSubscriptions();
// initialize attitude when sensors online // initialize attitude when sensors online
if (!_attitudeInitialized && sensorsUpdate && if (!_attitudeInitialized && sensorsUpdate) {
_sensors.accelerometer_counter > 10 &&
_sensors.gyro_counter > 10 &&
_sensors.magnetometer_counter > 10) {
if (correctAtt() == ret_ok) _attitudeInitCounter++; if (correctAtt() == ret_ok) _attitudeInitCounter++;
if (_attitudeInitCounter > 100) { if (_attitudeInitCounter > 100) {
@@ -643,7 +640,7 @@ int KalmanNav::correctAtt()
if (beta > _faultAtt.get()) { if (beta > _faultAtt.get()) {
warnx("fault in attitude: beta = %8.4f", (double)beta); warnx("fault in attitude: beta = %8.4f", (double)beta);
warnx("y:\n"); y.print(); warnx("y:"); y.print();
} }
// update quaternions from euler // update quaternions from euler