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Attitude estimator Q: Add sensor priority support

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Lorenz Meier
2015-09-07 09:59:49 +02:00
parent ae56496ba3
commit d558819a24
1 changed files with 5 additions and 3 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+5 -3
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@@ -314,10 +314,12 @@ void AttitudeEstimatorQ::task_main()
}
}
_voter_gyro.put(i, sensors.gyro_timestamp[i], &gyro[0], sensors.gyro_errcount[i]);
_voter_gyro.put(i, sensors.gyro_timestamp[i], &gyro[0], sensors.gyro_errcount[i], sensors.gyro_priority[i]);
}
_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3], sensors.accelerometer_errcount[i]);
_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3], sensors.magnetometer_errcount[i]);
_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3],
sensors.accelerometer_errcount[i], sensors.accelerometer_priority[i]);
_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3],
sensors.magnetometer_errcount[i], sensors.magnetometer_priority[i]);
}
int best_gyro, best_accel, best_mag;