fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 01:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

lpe: update _sensorTimeout and _sensorFault to handle support of more sensors

Browse Source
This commit is contained in:
TSC21
2017-11-02 15:42:35 +00:00
committed by Lorenz Meier
parent 392999c2df
commit e6efb5ec0a
2 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+5 -2
View File
@@ -180,14 +180,16 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
// print fusion settings to console
printf("[lpe] fuse gps: %d, flow: %d, vis_pos: %d, "
"vis_yaw: %d, land: %d, pub_agl_z: %d, flow_gyro: %d\n",
"vis_yaw: %d, land: %d, pub_agl_z: %d, flow_gyro: %d, "
"landing_target %d\n",
(_fusion.get() & FUSE_GPS) != 0,
(_fusion.get() & FUSE_FLOW) != 0,
(_fusion.get() & FUSE_VIS_POS) != 0,
(_fusion.get() & FUSE_VIS_YAW) != 0,
(_fusion.get() & FUSE_LAND) != 0,
(_fusion.get() & FUSE_PUB_AGL_Z) != 0,
(_fusion.get() & FUSE_FLOW_GYRO_COMP) != 0);
(_fusion.get() & FUSE_FLOW_GYRO_COMP) != 0,
(_fusion.get() & FUSE_LAND_TARGET) != 0);
}
BlockLocalPositionEstimator::~BlockLocalPositionEstimator()
@@ -335,6 +337,7 @@ void BlockLocalPositionEstimator::update()
|| !(_sensorTimeout & SENSOR_VISION)
|| !(_sensorTimeout & SENSOR_MOCAP)
|| !(_sensorTimeout & SENSOR_LAND)
|| !(_sensorTimeout & SENSOR_LAND_TARGET)
) {
_estimatorInitialized |= EST_XY;
}