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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 13:22:04 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 13:22:04 +0100 |
commit | c5311b18fef0e215c019a4686ca9697224d1cd31 (patch) | |
tree | 84c35f1b7d97b5d9fe76bc550dc425f17a551b92 /src/modules/fw_att_pos_estimator | |
parent | 87410b5bde3075603a7615904d1c3d41f5b7fce8 (diff) | |
download | px4-firmware-c5311b18fef0e215c019a4686ca9697224d1cd31.tar.gz px4-firmware-c5311b18fef0e215c019a4686ca9697224d1cd31.tar.bz2 px4-firmware-c5311b18fef0e215c019a4686ca9697224d1cd31.zip |
Build fixes
Diffstat (limited to 'src/modules/fw_att_pos_estimator')
-rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.cpp | 6 | ||||
-rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 4 |
2 files changed, 3 insertions, 7 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp index bae427234..0f2559c58 100644 --- a/src/modules/fw_att_pos_estimator/estimator.cpp +++ b/src/modules/fw_att_pos_estimator/estimator.cpp @@ -1,9 +1,5 @@ #include "estimator.h" -// For debugging only -#include <cstdlib> -#include <stdio.h> - // Global variables float KH[n_states][n_states]; // intermediate result used for covariance updates float KHP[n_states][n_states]; // intermediate result used for covariance updates @@ -1840,8 +1836,6 @@ void InitialiseFilter(float (&initvelNED)[3]) Vector3f initMagXYZ; initMagXYZ = magData - magBias; AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat); - printf("initializing: accel: %8.4f %8.4f %8.4f, mag: %8.4f %8.4f %8.4f q: %8.4f %8.4f %8.4f %8.4f\n", - accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat[0], initQuat[1], initQuat[2], initQuat[3]); // Calculate initial Tbn matrix and rotate Mag measurements into NED // to set initial NED magnetic field states 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 2b7cdc118..688a44c47 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 @@ -172,6 +172,7 @@ private: perf_counter_t _perf_airspeed; ///<local performance counter for airspeed updates bool _initialized; + bool _gps_initialized; struct { float throttle_cruise; @@ -262,7 +263,8 @@ FixedwingEstimator::FixedwingEstimator() : _perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")), /* states */ - _initialized(false) + _initialized(false), + _gps_initialized(false) { _parameter_handles.throttle_cruise = param_find("NAV_DUMMY"); |