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Attitude only EKF: Update to new sensor combined topic

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Lorenz Meier
2015-08-30 00:16:45 +02:00
parent ad14b471e3
commit e76037233c
1 changed files with 3 additions and 3 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+3 -3
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@@ -383,10 +383,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
uint8_t update_vect[3] = {0, 0, 0};
/* Fill in gyro measurements */
if (sensor_last_timestamp[0] != raw.timestamp) {
if (sensor_last_timestamp[0] != raw.gyro_timestamp[0]) {
update_vect[0] = 1;
// sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
sensor_last_timestamp[0] = raw.timestamp;
sensor_last_timestamp[0] = raw.gyro_timestamp[0];
}
z_k[0] = raw.gyro_rad_s[0] - gyro_offsets[0];
@@ -394,7 +394,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
z_k[2] = raw.gyro_rad_s[2] - gyro_offsets[2];
/* update accelerometer measurements */
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
if (sensor_last_timestamp[1] != raw.accelerometer_timestamp[0]) {
update_vect[1] = 1;
// sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
sensor_last_timestamp[1] = raw.accelerometer_timestamp;