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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 09:12:17 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 09:12:17 +0200 |
| commit | c5731bbc3f29361f3d50ecc54d44a521d2441a48 (patch) | |
| tree | 9820a5cf54f4096f54250d484248a1f53a66a8cb /src/modules/position_estimator_inav/position_estimator_inav_main.c | |
| parent | 25379771012761cd331e26eedd6a7ac649e04f5f (diff) | |
| download | px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.tar.gz px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.tar.bz2 px4-firmware-c5731bbc3f29361f3d50ecc54d44a521d2441a48.zip | |
TAKEOFF implemented for multirotors, added altitude check to waypoint navigation.
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 1e20f9de9..af6a704a2 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -591,6 +591,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.z = z_est[0]; local_pos.vz = z_est[1]; local_pos.landed = landed; + local_pos.yaw = att.yaw; orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos); @@ -609,7 +610,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.v_xy_valid) { global_pos.vx = local_pos.vx; global_pos.vy = local_pos.vy; - global_pos.hdg = atan2f(local_pos.vy, local_pos.vx); // TODO is it correct? } if (local_pos.z_valid) { @@ -623,6 +623,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.v_z_valid) { global_pos.vz = local_pos.vz; } + global_pos.yaw = local_pos.yaw; global_pos.timestamp = t; |