diff options
| author | James Goppert <james.goppert@gmail.com> | 2013-01-18 10:21:20 -0500 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-01-18 10:21:20 -0500 |
| commit | 4b2d1690d33c2ae9248abd9fb025e8a1a30fbe84 (patch) | |
| tree | 94932a34a784821a41212978700ed5474c9b49db /apps/examples | |
| parent | dc5ddb937039fd3481009caeb2a472955986e2e4 (diff) | |
| download | px4-firmware-4b2d1690d33c2ae9248abd9fb025e8a1a30fbe84.tar.gz px4-firmware-4b2d1690d33c2ae9248abd9fb025e8a1a30fbe84.tar.bz2 px4-firmware-4b2d1690d33c2ae9248abd9fb025e8a1a30fbe84.zip | |
Set kalman_demo to only publish when it has valid info.
Diffstat (limited to 'apps/examples')
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index 40166f3a1..a07280515 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -239,7 +239,10 @@ void KalmanNav::update() // publication if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz _pubTimeStamp = newTimeStamp; - updatePublications(); + + if (_positionInitialized) _pos.update(); + + if (_attitudeInitialized) _att.update(); } // output @@ -589,6 +592,7 @@ int KalmanNav::correctAtt() } psi += xCorrect(PSI); + // attitude also affects nav velocities if (_positionInitialized) { vN += xCorrect(VN); |