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attitude_estimator_q: cleanup output, remove unnecessary topic init

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This commit is contained in:
Beat Küng
2018-07-23 22:32:17 +02:00
committed by Lorenz Meier
parent 97fe5f928a
commit f4fef5efc8
1 changed files with 3 additions and 3 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+3 -3
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@@ -311,7 +311,7 @@ void AttitudeEstimatorQ::task_main()
_accel(2) = sensors.accelerometer_m_s2[2]; _accel(2) = sensors.accelerometer_m_s2[2];
if (_accel.length() < 0.01f) { if (_accel.length() < 0.01f) {
PX4_ERR("WARNING: degenerate accel!"); PX4_ERR("degenerate accel!");
continue; continue;
} }
} }
@@ -324,7 +324,7 @@ void AttitudeEstimatorQ::task_main()
orb_check(_magnetometer_sub, &magnetometer_updated); orb_check(_magnetometer_sub, &magnetometer_updated);
if (magnetometer_updated) { if (magnetometer_updated) {
vehicle_magnetometer_s magnetometer = {}; vehicle_magnetometer_s magnetometer;
if (orb_copy(ORB_ID(vehicle_magnetometer), _magnetometer_sub, &magnetometer) == PX4_OK) { if (orb_copy(ORB_ID(vehicle_magnetometer), _magnetometer_sub, &magnetometer) == PX4_OK) {
_mag(0) = magnetometer.magnetometer_ga[0]; _mag(0) = magnetometer.magnetometer_ga[0];
@@ -332,7 +332,7 @@ void AttitudeEstimatorQ::task_main()
_mag(2) = magnetometer.magnetometer_ga[2]; _mag(2) = magnetometer.magnetometer_ga[2];
if (_mag.length() < 0.01f) { if (_mag.length() < 0.01f) {
PX4_ERR("WARNING: degenerate mag!"); PX4_ERR("degenerate mag!");
continue; continue;
} }
} }