diff options
Diffstat (limited to 'src/examples/flow_position_estimator/flow_position_estimator_main.c')
| -rw-r--r-- | src/examples/flow_position_estimator/flow_position_estimator_main.c | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index 5e80066a7..495c415f2 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -345,6 +345,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) local_pos.y = local_pos.y + global_speed[1] * dt; local_pos.vx = global_speed[0]; local_pos.vy = global_speed[1]; + local_pos.xy_valid = true; + local_pos.v_xy_valid = true; } else { @@ -353,6 +355,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) filtered_flow.vy = 0; local_pos.vx = 0; local_pos.vy = 0; + local_pos.xy_valid = false; + local_pos.v_xy_valid = false; } /* filtering ground distance */ @@ -361,6 +365,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) /* not possible to fly */ sonar_valid = false; local_pos.z = 0.0f; + local_pos.z_valid = false; } else { @@ -388,6 +393,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) { local_pos.z = -sonar_new; } + + local_pos.z_valid = true; } filtered_flow.timestamp = hrt_absolute_time(); |