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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-13 12:38:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-13 12:38:43 +0200 |
| commit | a32577377b8d735c77ffaaee15e2bbfa74be703f (patch) | |
| tree | e89eaeefb10b9f84e2d5d2ddb01c4e89f6e14d51 /src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | |
| parent | 67376c67e68160a43db1056b20e2f00fbb90bb0e (diff) | |
| download | px4-firmware-a32577377b8d735c77ffaaee15e2bbfa74be703f.tar.gz px4-firmware-a32577377b8d735c77ffaaee15e2bbfa74be703f.tar.bz2 px4-firmware-a32577377b8d735c77ffaaee15e2bbfa74be703f.zip | |
EKF init improvements
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 5ce6bdb0a..ee1561280 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -610,6 +610,10 @@ FixedwingEstimator::check_filter_state() rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1); rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2); rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3); + // rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4); + // rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5); + // rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6); + // rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7); rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0); rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1); @@ -1246,6 +1250,10 @@ FixedwingEstimator::task_main() _ekf->FuseVelposNED(); } else if (!_gps_initialized) { + + // force static mode + _ekf->staticMode = true; + // Convert GPS measurements to Pos NE, hgt and Vel NED _ekf->velNED[0] = 0.0f; _ekf->velNED[1] = 0.0f; |