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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-11 19:31:20 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-11 19:31:20 +0400 |
commit | 0bcda7f8a6079ba20eeb4bbd4181872a5513acfc (patch) | |
tree | 0f248a372623fdd325060ac75b17cdfddf75f057 | |
parent | 9e41f6af18d3d84413501ce37737d574fd20816d (diff) | |
parent | b6a087e92183ef9cca513357919b96ea2812d298 (diff) | |
download | px4-firmware-0bcda7f8a6079ba20eeb4bbd4181872a5513acfc.tar.gz px4-firmware-0bcda7f8a6079ba20eeb4bbd4181872a5513acfc.tar.bz2 px4-firmware-0bcda7f8a6079ba20eeb4bbd4181872a5513acfc.zip |
Merge branch 'master' into beta_mavlink2
-rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 3 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 8 |
2 files changed, 7 insertions, 4 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 620185fb7..00bd23f83 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -477,6 +477,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds dt = 0.005f; parameters_update(&ekf_param_handles, &ekf_params); + /* update mag declination rotation matrix */ + R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl); + x_aposteriori_k[0] = z_k[0]; x_aposteriori_k[1] = z_k[1]; x_aposteriori_k[2] = z_k[2]; diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 8ba8f2ccb..7f13df785 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -350,12 +350,12 @@ private: /* * Reset takeoff state */ - int reset_takeoff_state(); + void reset_takeoff_state(); /* * Reset landing state */ - int reset_landing_state(); + void reset_landing_state(); }; namespace l1_control @@ -1312,14 +1312,14 @@ FixedwingPositionControl::task_main() _exit(0); } -int FixedwingPositionControl::reset_takeoff_state() +void FixedwingPositionControl::reset_takeoff_state() { launch_detected = false; usePreTakeoffThrust = false; launchDetector.reset(); } -int FixedwingPositionControl::reset_landing_state() +void FixedwingPositionControl::reset_landing_state() { land_noreturn_horizontal = false; land_noreturn_vertical = false; |