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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-10-11 11:38:36 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-10-11 11:38:36 +0200 |
| commit | dc09182b950e5ad8fea35ad69d9957b72a9bbee0 (patch) | |
| tree | a7d155e3d9ae33475ed42589234409c770af2ac6 /src/modules/position_estimator_inav | |
| parent | 86c53bee43ab7cb7cb18e9270af0c729440d14ed (diff) | |
| download | px4-firmware-dc09182b950e5ad8fea35ad69d9957b72a9bbee0.tar.gz px4-firmware-dc09182b950e5ad8fea35ad69d9957b72a9bbee0.tar.bz2 px4-firmware-dc09182b950e5ad8fea35ad69d9957b72a9bbee0.zip | |
Added "bottom distance" switch, multirotor_pos_control implemented: use bottom distance to surface to control altitde
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 6 |
1 files changed, 2 insertions, 4 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 6df7c69b2..8cd161075 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -439,12 +439,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else { /* new ground level */ surface_offset -= sonar_corr; - mavlink_log_info(mavlink_fd, "[inav] new surface level: %.3f", surface_offset); - alt_avg -= sonar_corr; // TODO check this sonar_corr = 0.0f; sonar_corr_filtered = 0.0f; sonar_valid_time = t; sonar_valid = true; + local_pos.surface_bottom_timestamp = t; + mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset); } } else { @@ -521,14 +521,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (gps_valid) { if (gps.eph_m > 10.0f) { gps_valid = false; - warnx("GPS signal lost"); mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { if (gps.eph_m < 5.0f) { gps_valid = true; - warnx("GPS signal found"); mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); } } |