diff options
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 27 |
1 files changed, 4 insertions, 23 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index ccc497323..91d17e787 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -630,10 +630,10 @@ FixedwingEstimator::check_filter_state() rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1); rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2); rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3); - // rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4); - // rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5); - // rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6); - // rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7); + rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4); + rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5); + rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6); + rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7); rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0); rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1); @@ -1469,25 +1469,6 @@ FixedwingEstimator::task_main() _wind.timestamp = _global_pos.timestamp; _wind.windspeed_north = _ekf->states[14]; _wind.windspeed_east = _ekf->states[15]; - _wind.covariance_north = 0.0f; // XXX get form filter - _wind.covariance_east = 0.0f; - - /* lazily publish the wind estimate only once available */ - if (_wind_pub > 0) { - /* publish the wind estimate */ - orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind); - - } else { - /* advertise and publish */ - _wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind); - } - - } - - if (hrt_elapsed_time(&_wind.timestamp) > 99000) { - _wind.timestamp = _global_pos.timestamp; - _wind.windspeed_north = _ekf->states[14]; - _wind.windspeed_east = _ekf->states[15]; _wind.covariance_north = _ekf->P[14][14]; _wind.covariance_east = _ekf->P[15][15]; |