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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-31 10:00:26 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-31 10:00:26 +0100 |
| commit | 9695ae8cee414429c782403ffaa8ca0c9d90dc2a (patch) | |
| tree | c1fc85a2a2609b67328dc6e68e5aa4443488ee9b /src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | |
| parent | e32d92e7322fef0acdfb8913c930d90abfbfa627 (diff) | |
| download | px4-firmware-9695ae8cee414429c782403ffaa8ca0c9d90dc2a.tar.gz px4-firmware-9695ae8cee414429c782403ffaa8ca0c9d90dc2a.tar.bz2 px4-firmware-9695ae8cee414429c782403ffaa8ca0c9d90dc2a.zip | |
Update API to include baro altitude.
Diffstat (limited to 'src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 7a71e774c..88c75903e 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -400,6 +400,7 @@ FixedwingEstimator::task_main() fuseHgtData = false; fuseMagData = false; fuseVtasData = false; + statesInitialised = false; /* wakeup source(s) */ struct pollfd fds[2]; @@ -577,7 +578,7 @@ FixedwingEstimator::task_main() if (baro_updated) { orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); - /* XXX leverage baro */ + baroHgt = _baro.altitude; } bool gps_updated; @@ -601,6 +602,7 @@ FixedwingEstimator::task_main() if (hrt_elapsed_time(&start_time) > 500000 && !_initialized) { InitialiseFilter(); _initialized = true; + warnx("init done."); continue; } |