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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 13:47:26 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-16 13:47:26 +0100 |
commit | 717e1bd374e7710ce579e91c45852bbba906eba8 (patch) | |
tree | 1dbd5bce449a300af5d0f06e5cd7146747751b79 /src/modules/attitude_estimator_so3 | |
parent | eccbccb8261a7d5ed27ec3e7447cce570fdb5d2e (diff) | |
download | px4-firmware-717e1bd374e7710ce579e91c45852bbba906eba8.tar.gz px4-firmware-717e1bd374e7710ce579e91c45852bbba906eba8.tar.bz2 px4-firmware-717e1bd374e7710ce579e91c45852bbba906eba8.zip |
Removed stupid sensor counter, replaced it with much more useful timestamps
Diffstat (limited to 'src/modules/attitude_estimator_so3')
-rwxr-xr-x | src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp | 10 |
1 files changed, 3 insertions, 7 deletions
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp index e79726613..7150218ff 100755 --- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp @@ -445,7 +445,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) // XXX write this out to perf regs /* keep track of sensor updates */ - uint32_t sensor_last_count[3] = {0, 0, 0}; uint64_t sensor_last_timestamp[3] = {0, 0, 0}; struct attitude_estimator_so3_params so3_comp_params; @@ -526,9 +525,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) uint8_t update_vect[3] = {0, 0, 0}; /* Fill in gyro measurements */ - if (sensor_last_count[0] != raw.gyro_counter) { + if (sensor_last_timestamp[0] != raw.timestamp) { update_vect[0] = 1; - sensor_last_count[0] = raw.gyro_counter; sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); sensor_last_timestamp[0] = raw.timestamp; } @@ -538,9 +536,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; /* update accelerometer measurements */ - if (sensor_last_count[1] != raw.accelerometer_counter) { + if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) { update_vect[1] = 1; - sensor_last_count[1] = raw.accelerometer_counter; sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); sensor_last_timestamp[1] = raw.timestamp; } @@ -550,9 +547,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) acc[2] = raw.accelerometer_m_s2[2]; /* update magnetometer measurements */ - if (sensor_last_count[2] != raw.magnetometer_counter) { + if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) { update_vect[2] = 1; - sensor_last_count[2] = raw.magnetometer_counter; sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); sensor_last_timestamp[2] = raw.timestamp; } |