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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-01 21:04:27 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-01 21:04:27 +0200 |
| commit | 8eb5aeaae3154f3faa6ac493ddc3d6aefdbaecc0 (patch) | |
| tree | 5c4f6c993f92feca39bb551b01c5e10dd6958d3a /src/modules/attitude_estimator_ekf | |
| parent | cc944da1a4b88d33398abd71860376fc2db82614 (diff) | |
| download | px4-firmware-8eb5aeaae3154f3faa6ac493ddc3d6aefdbaecc0.tar.gz px4-firmware-8eb5aeaae3154f3faa6ac493ddc3d6aefdbaecc0.tar.bz2 px4-firmware-8eb5aeaae3154f3faa6ac493ddc3d6aefdbaecc0.zip | |
Use vision for heading reference whenever available, independent of GPS
Diffstat (limited to 'src/modules/attitude_estimator_ekf')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 |
1 files changed, 1 insertions, 1 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 6bbc26a65..cd7c56b87 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -457,7 +457,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision); } - if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000) && gps.eph > 3.0f) { + if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) { math::Quaternion q(vision.q); math::Matrix<3, 3> R = q.to_dcm(); |