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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-19 20:01:01 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-19 20:01:01 +0400 |
commit | 9b71e660ad86cb2ecec4db93795f417a9ba0fddd (patch) | |
tree | c7bd62f4e4b260f03c6103e9d322e2b3f84d11c2 /src/modules/position_estimator_inav | |
parent | 068b7526b74c9bbcc31acc28f0d578ed9c0f97b1 (diff) | |
parent | 295f87f22cc471fccb44e3f3dee3e8fcab263de2 (diff) | |
download | px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.tar.gz px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.tar.bz2 px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.zip |
Merge branch 'beta_mavlink2' into mpc_local_pos_mavlink
Diffstat (limited to 'src/modules/position_estimator_inav')
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 16 |
1 files changed, 8 insertions, 8 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 fc394fda6..caf2f840c 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -207,8 +207,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool landed = true; hrt_abstime landed_time = 0; - uint32_t accel_counter = 0; - uint32_t baro_counter = 0; + hrt_abstime accel_timestamp = 0; + hrt_abstime baro_timestamp = 0; bool ref_inited = false; hrt_abstime ref_init_start = 0; @@ -319,8 +319,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds_init[0].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (wait_baro && sensor.baro_counter != baro_counter) { - baro_counter = sensor.baro_counter; + if (wait_baro && sensor.baro_timestamp != baro_timestamp) { + baro_timestamp = sensor.baro_timestamp; /* mean calculation over several measurements */ if (baro_init_cnt < baro_init_num) { @@ -393,7 +393,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (sensor.accelerometer_counter != accel_counter) { + if (sensor.accelerometer_timestamp != accel_timestamp) { if (att.R_valid) { /* correct accel bias */ sensor.accelerometer_m_s2[0] -= acc_bias[0]; @@ -417,13 +417,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memset(corr_acc, 0, sizeof(corr_acc)); } - accel_counter = sensor.accelerometer_counter; + accel_timestamp = sensor.accelerometer_timestamp; accel_updates++; } - if (sensor.baro_counter != baro_counter) { + if (sensor.baro_timestamp != baro_timestamp) { corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0]; - baro_counter = sensor.baro_counter; + baro_timestamp = sensor.baro_timestamp; baro_updates++; } } |