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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-05 15:56:49 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-05 15:56:49 +0100 |
| commit | c0285ae815cfe075c6c8bdc09d22a0114ca5cc7e (patch) | |
| tree | f7c6f95ff856c4a7350c3ac37c5a90ef170d4f26 /src | |
| parent | c96a2eac6d011355367e29f21c0db55922d1d514 (diff) | |
| parent | d3b267c06e53aaf119b66717ac33e78834ea0d69 (diff) | |
| download | px4-firmware-c0285ae815cfe075c6c8bdc09d22a0114ca5cc7e.tar.gz px4-firmware-c0285ae815cfe075c6c8bdc09d22a0114ca5cc7e.tar.bz2 px4-firmware-c0285ae815cfe075c6c8bdc09d22a0114ca5cc7e.zip | |
Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs
Conflicts:
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
src/modules/fw_att_control/fw_att_control_main.cpp
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 9 |
1 files changed, 3 insertions, 6 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 33879892e..18fb6dcbc 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -34,7 +34,7 @@ /** * @file KalmanNav.cpp * - * kalman filter navigation code + * Kalman filter navigation code */ #include <poll.h> @@ -228,10 +228,7 @@ void KalmanNav::update() updateSubscriptions(); // initialize attitude when sensors online - if (!_attitudeInitialized && sensorsUpdate && - _sensors.accelerometer_counter > 10 && - _sensors.gyro_counter > 10 && - _sensors.magnetometer_counter > 10) { + if (!_attitudeInitialized && sensorsUpdate) { if (correctAtt() == ret_ok) _attitudeInitCounter++; if (_attitudeInitCounter > 100) { @@ -643,7 +640,7 @@ int KalmanNav::correctAtt() if (beta > _faultAtt.get()) { warnx("fault in attitude: beta = %8.4f", (double)beta); - warnx("y:\n"); y.print(); + warnx("y:"); y.print(); } // update quaternions from euler |