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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-19 17:11:12 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-19 17:11:12 +0100 |
| commit | 2542722102ce0ab3520dafe9ae695cf06caae675 (patch) | |
| tree | 9827710c211fc31e463ffabb6002f4dda7cdab17 /apps/examples | |
| parent | 4b2d1690d33c2ae9248abd9fb025e8a1a30fbe84 (diff) | |
| download | px4-firmware-2542722102ce0ab3520dafe9ae695cf06caae675.tar.gz px4-firmware-2542722102ce0ab3520dafe9ae695cf06caae675.tar.bz2 px4-firmware-2542722102ce0ab3520dafe9ae695cf06caae675.zip | |
Fixed selective publication update
Diffstat (limited to 'apps/examples')
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.cpp | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index a07280515..7e89dffb2 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -240,9 +240,7 @@ void KalmanNav::update() if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz _pubTimeStamp = newTimeStamp; - if (_positionInitialized) _pos.update(); - - if (_attitudeInitialized) _att.update(); + updatePublications(); } // output @@ -294,8 +292,13 @@ void KalmanNav::updatePublications() _att.q_valid = true; _att.counter = _navFrames; - // update publications - SuperBlock::updatePublications(); + // selectively update publications, + // do NOT call superblock do-all method + if (_positionInitialized) + _pos.update(); + + if (_attitudeInitialized) + _att.update(); } int KalmanNav::predictState(float dt) |