diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-11-03 18:27:26 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-11-03 18:27:26 +0100 |
| commit | 3042731d26e94b3c126e61e422b98fcd7df4694c (patch) | |
| tree | fa3d37792421b2cfbb1c800799b4478c9ffa7501 /src/modules/att_pos_estimator_ekf | |
| parent | 791695ccd008859f6abe1a12d86b7be2ba811fec (diff) | |
| download | px4-firmware-3042731d26e94b3c126e61e422b98fcd7df4694c.tar.gz px4-firmware-3042731d26e94b3c126e61e422b98fcd7df4694c.tar.bz2 px4-firmware-3042731d26e94b3c126e61e422b98fcd7df4694c.zip | |
Smaller hotfixes for att pos estimator
Diffstat (limited to 'src/modules/att_pos_estimator_ekf')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 9 |
1 files changed, 3 insertions, 6 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 33879892e..18fb6dcbc 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -34,7 +34,7 @@ /** * @file KalmanNav.cpp * - * kalman filter navigation code + * Kalman filter navigation code */ #include <poll.h> @@ -228,10 +228,7 @@ void KalmanNav::update() updateSubscriptions(); // initialize attitude when sensors online - if (!_attitudeInitialized && sensorsUpdate && - _sensors.accelerometer_counter > 10 && - _sensors.gyro_counter > 10 && - _sensors.magnetometer_counter > 10) { + if (!_attitudeInitialized && sensorsUpdate) { if (correctAtt() == ret_ok) _attitudeInitCounter++; if (_attitudeInitCounter > 100) { @@ -643,7 +640,7 @@ int KalmanNav::correctAtt() if (beta > _faultAtt.get()) { warnx("fault in attitude: beta = %8.4f", (double)beta); - warnx("y:\n"); y.print(); + warnx("y:"); y.print(); } // update quaternions from euler |