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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-11 19:29:43 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-11 19:29:43 +0200 |
commit | eeba000b8728e9b7a8daae0c0ad129257ec39403 (patch) | |
tree | 1ecce53983a9dcb21f2be56ce972846649be07fe /src/modules/ekf_att_pos_estimator | |
parent | 5581802f0f2f4bb34ac8c43b8aa9c1c555013758 (diff) | |
download | px4-firmware-eeba000b8728e9b7a8daae0c0ad129257ec39403.tar.gz px4-firmware-eeba000b8728e9b7a8daae0c0ad129257ec39403.tar.bz2 px4-firmware-eeba000b8728e9b7a8daae0c0ad129257ec39403.zip |
stupid fix
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 8 | ||||
-rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 2 |
2 files changed, 6 insertions, 4 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 068d665a5..4239db669 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2004,15 +2004,15 @@ float AttPosEKF::ConstrainFloat(float val, float min, float max) float ret; if (val > max) { ret = max; - ekf_debug("> max: %8.4f, val: %8.4f", min); + ekf_debug("> max: %8.4f, val: %8.4f", max, val); } else if (val < min) { ret = min; - ekf_debug("< min: %8.4f, val: %8.4f", max); + ekf_debug("< min: %8.4f, val: %8.4f", min, val); } else { ret = val; } - if (!isfinite) { + if (!isfinite(val)) { ekf_debug("constrain: non-finite!"); } @@ -2119,7 +2119,9 @@ void AttPosEKF::ConstrainStates() } // Constrain delta velocity bias + ekf_debug("pre delta vel"); states[13] = ConstrainFloat(states[13], -1.0f * dtIMU, 1.0f * dtIMU); + ekf_debug("post delta vel"); // Wind velocity limits - assume 120 m/s max velocity for (unsigned i = 14; i <= 15; i++) { diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index 997ea1759..9065063ce 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -1379,7 +1379,7 @@ FixedwingEstimator::print_status() // 15-17: Earth Magnetic Field Vector - gauss (North, East, Down) // 18-20: Body Magnetic Field Vector - gauss (X,Y,Z) - printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (double)dt, (int)IMUmsec); + printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec); printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z); printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z); printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]); |