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Update vision fields for attitude_estimator_ekf

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Lorenz Meier
2016-07-10 14:21:56 +02:00
parent 7601788c43
commit f39d284193
1 changed files with 2 additions and 2 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+2 -2
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@@ -499,7 +499,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(att_pos_mocap), mocap_sub, &mocap);
}
if (mocap.timestamp_boot > 0 && (hrt_elapsed_time(&mocap.timestamp_boot) < 500000)) {
if (mocap.timestamp > 0 && (hrt_elapsed_time(&mocap.timestamp) < 500000)) {
math::Quaternion q(mocap.q);
math::Matrix<3, 3> Rmoc = q.to_dcm();
@@ -511,7 +511,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
z_k[6] = vn(0);
z_k[7] = vn(1);
z_k[8] = vn(2);
}else if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) {
} else if (vision.timestamp > 0 && (hrt_elapsed_time(&vision.timestamp) < 500000)) {
math::Quaternion q(vision.q);
math::Matrix<3, 3> Rvis = q.to_dcm();