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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-23 15:59:56 -0800 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-23 15:59:56 -0800 |
| commit | b36bf7b17e4827465d1d543a00ea3898813c77ea (patch) | |
| tree | 69c128d390abf1bb58a38e9e33584724c4b3b92d /src/modules/fw_att_pos_estimator | |
| parent | 57df53d27c5f910cbff0d2fb803df0ef30ce5fc7 (diff) | |
| download | px4-firmware-b36bf7b17e4827465d1d543a00ea3898813c77ea.tar.gz px4-firmware-b36bf7b17e4827465d1d543a00ea3898813c77ea.tar.bz2 px4-firmware-b36bf7b17e4827465d1d543a00ea3898813c77ea.zip | |
Removed gravity and on ground check hardcoded testing values
Diffstat (limited to 'src/modules/fw_att_pos_estimator')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 2 | ||||
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 1 |
2 files changed, 1 insertions, 2 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h index ff31a84ac..d65be322f 100644 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ b/src/modules/fw_att_pos_estimator/estimator.h @@ -3,7 +3,7 @@ #pragma once -#define GRAVITY_MSS 9.76f//9.80665f +#define GRAVITY_MSS 9.80665f #define deg2rad 0.017453292f #define rad2deg 57.295780f #define pi 3.141592657f 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 95549ad21..38162959d 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 @@ -735,7 +735,6 @@ FixedwingEstimator::task_main() StoreStates(IMUmsec); // Check if on ground - status is used by covariance prediction OnGroundCheck(); - onGround = false; // sum delta angles and time used by covariance prediction summedDelAng = summedDelAng + correctedDelAng; summedDelVel = summedDelVel + dVelIMU; |