diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-02 15:37:18 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-02 15:37:18 +0200 |
| commit | 4c7cc10b6294c799798d05faad688d9dec2102f3 (patch) | |
| tree | 19899057a5dcdfc0ee742de3c238bebe61526556 /src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | |
| parent | 8729cf23277008cb12c53c7c529663fdc983339e (diff) | |
| download | px4-firmware-4c7cc10b6294c799798d05faad688d9dec2102f3.tar.gz px4-firmware-4c7cc10b6294c799798d05faad688d9dec2102f3.tar.bz2 px4-firmware-4c7cc10b6294c799798d05faad688d9dec2102f3.zip | |
Working and replay-tested altitude fusion
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 | 4 |
1 files changed, 2 insertions, 2 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 87a20a775..97abb76a9 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 @@ -1370,7 +1370,7 @@ FixedwingEstimator::task_main() _ekf->fuseRngData = true; _ekf->useRangeFinder = true; _ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f)); - _ekf->FuseRangeFinder(); + _ekf->GroundEKF(); } @@ -1487,7 +1487,7 @@ FixedwingEstimator::task_main() } /* terrain altitude */ - _global_pos.terrain_alt = _ekf->states[22]; + _global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1]; _global_pos.terrain_alt_valid = (_distance_last_valid > 0) && (hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000); |