fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-12 18:30:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

Browse Source 
- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This commit is contained in:
Daniel Agar
2022-10-19 19:36:47 -04:00
committed by GitHub
parent e211e0ca0e
commit cea185268e
318 changed files with 1948 additions and 8939 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
+3 -3
View File
@@ -47,7 +47,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
// fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low
float innovation = 0.f;
float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
estimator_aid_source_1d_s unused;
estimator_aid_source1d_s unused;
fuseYaw(innovation, obs_var, unused);
_last_static_yaw = NAN;
@@ -62,7 +62,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
float innovation = wrap_pi(euler_yaw - _last_static_yaw);
float obs_var = 0.01f;
estimator_aid_source_1d_s unused;
estimator_aid_source1d_s unused;
fuseYaw(innovation, obs_var, unused);
}
@@ -78,7 +78,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
float innovation = 0.f;
float obs_var = 0.01f;
estimator_aid_source_1d_s unused;
estimator_aid_source1d_s unused;
fuseYaw(innovation, obs_var, unused);
}