fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 09:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added "bottom distance" switch, multirotor_pos_control implemented: use bottom distance to surface to control altitde

Browse Source
This commit is contained in:
Anton Babushkin
2013-10-11 11:38:36 +02:00
parent 86c53bee43
commit dc09182b95
10 changed files with 106 additions and 41 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -4
View File
@@ -439,12 +439,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} else {
/* new ground level */
surface_offset -= sonar_corr;
mavlink_log_info(mavlink_fd, "[inav] new surface level: %.3f", surface_offset);
alt_avg -= sonar_corr; // TODO check this
sonar_corr = 0.0f;
sonar_corr_filtered = 0.0f;
sonar_valid_time = t;
sonar_valid = true;
local_pos.surface_bottom_timestamp = t;
mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset);
}
} else {
@@ -521,14 +521,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (gps_valid) {
if (gps.eph_m > 10.0f) {
gps_valid = false;
warnx("GPS signal lost");
mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
}
} else {
if (gps.eph_m < 5.0f) {
gps_valid = true;
warnx("GPS signal found");
mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
}
}