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Q estimator: Fix scope of sensor voting scheme

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Lorenz Meier 2015-11-29 18:41:18 +01:00
parent 66e9abc774
commit ce1b35d024
1 changed files with 4 additions and 2 deletions
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6
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@ -333,6 +333,10 @@ void AttitudeEstimatorQ::task_main()
// Update sensors
sensor_combined_s sensors;
int best_gyro = 0;
int best_accel = 0;
int best_mag = 0;
if (!orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors)) {
// Feed validator with recent sensor data
@ -369,8 +373,6 @@ void AttitudeEstimatorQ::task_main()
}
}
int best_gyro, best_accel, best_mag;
// Get best measurement values
hrt_abstime curr_time = hrt_absolute_time();
_gyro.set(_voter_gyro.get_best(curr_time, &best_gyro));