diff options
Diffstat (limited to 'src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp')
| -rwxr-xr-x | src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp | 23 |
1 files changed, 10 insertions, 13 deletions
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp index e79726613..e55b01160 100755 --- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. - * Author: Hyon Lim <limhyon@gmail.com> - * Anton Babushkin <anton.babushkin@me.com> + * Copyright (c) 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -36,6 +34,9 @@ /* * @file attitude_estimator_so3_main.cpp * + * @author Hyon Lim <limhyon@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> + * * Implementation of nonlinear complementary filters on the SO(3). * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer. * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix. @@ -131,7 +132,7 @@ usage(const char *reason) * Makefile does only apply to this management task. * * The actual stack size should be set in the call - * to task_create(). + * to task_spawn_cmd(). */ int attitude_estimator_so3_main(int argc, char *argv[]) { @@ -445,7 +446,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) // XXX write this out to perf regs /* keep track of sensor updates */ - uint32_t sensor_last_count[3] = {0, 0, 0}; uint64_t sensor_last_timestamp[3] = {0, 0, 0}; struct attitude_estimator_so3_params so3_comp_params; @@ -526,9 +526,8 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) uint8_t update_vect[3] = {0, 0, 0}; /* Fill in gyro measurements */ - if (sensor_last_count[0] != raw.gyro_counter) { + if (sensor_last_timestamp[0] != raw.timestamp) { update_vect[0] = 1; - sensor_last_count[0] = raw.gyro_counter; sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]); sensor_last_timestamp[0] = raw.timestamp; } @@ -538,11 +537,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) gyro[2] = raw.gyro_rad_s[2] - gyro_offsets[2]; /* update accelerometer measurements */ - if (sensor_last_count[1] != raw.accelerometer_counter) { + if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) { update_vect[1] = 1; - sensor_last_count[1] = raw.accelerometer_counter; sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]); - sensor_last_timestamp[1] = raw.timestamp; + sensor_last_timestamp[1] = raw.accelerometer_timestamp; } acc[0] = raw.accelerometer_m_s2[0]; @@ -550,11 +548,10 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[]) acc[2] = raw.accelerometer_m_s2[2]; /* update magnetometer measurements */ - if (sensor_last_count[2] != raw.magnetometer_counter) { + if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) { update_vect[2] = 1; - sensor_last_count[2] = raw.magnetometer_counter; sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]); - sensor_last_timestamp[2] = raw.timestamp; + sensor_last_timestamp[2] = raw.magnetometer_timestamp; } mag[0] = raw.magnetometer_ga[0]; |