Merge branch 'inav_fs' into beta_mavlink2

1 files changed, 17 insertions, 6 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 ad363efe0..d6d03367b 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -167,12 +167,13 @@ void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3],
 	FILE *f = fopen("/fs/microsd/inav.log", "a");
 	if (f) {
 		char *s = malloc(256);
-		snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]);
-		fputs(f, s);
-		snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
-		fputs(f, s);
+		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2]);
+		fwrite(s, 1, n, f);
+		n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
+		fwrite(s, 1, n, f);
 		free(s);
 	}
+	fsync(fileno(f));
 	fclose(f);
 }
 
@@ -708,6 +709,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
 		inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
 
+		float x_est_prev[3], y_est_prev[3];
+
+		memcpy(x_est_prev, x_est, sizeof(x_est));
+		memcpy(y_est_prev, y_est, sizeof(y_est));
+
 		if (can_estimate_xy) {
 			/* inertial filter prediction for position */
 			inertial_filter_predict(dt, x_est);
@@ -715,7 +721,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 			if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
 				write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
-				thread_should_exit = true;
+				memcpy(x_est, x_est_prev, sizeof(x_est));
+				memcpy(y_est, y_est_prev, sizeof(y_est));
 			}
 
 			/* inertial filter correction for position */
@@ -739,7 +746,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 			if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
 				write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
-				thread_should_exit = true;
+				memcpy(x_est, x_est_prev, sizeof(x_est));
+				memcpy(y_est, y_est_prev, sizeof(y_est));
+				memset(corr_acc, 0, sizeof(corr_acc));
+				memset(corr_gps, 0, sizeof(corr_gps));
+				memset(corr_flow, 0, sizeof(corr_flow));
 			}
 		}