diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 12 |
1 files changed, 6 insertions, 6 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 987b4f1c3..e4f805dc0 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 @@ -49,11 +49,11 @@ #include <math.h> #include <poll.h> #include <time.h> -#include <drivers/drv_hrt.h> +#include <float.h> #define SENSOR_COMBINED_SUB - +#include <drivers/drv_hrt.h> #include <drivers/drv_gyro.h> #include <drivers/drv_accel.h> #include <drivers/drv_mag.h> @@ -146,7 +146,7 @@ public: * * @param debug Desired debug level - 0 to disable. */ - int set_debuglevel(unsigned debug) { _debug = debug; } + int set_debuglevel(unsigned debug) { _debug = debug; return 0; } private: @@ -1256,9 +1256,9 @@ FixedwingEstimator::task_main() float gps_dt = (_gps.timestamp_position - last_gps) / 1e6f; // Calculate acceleration predicted by GPS velocity change - if ((_ekf->velNED[0] != _gps.vel_n_m_s || - _ekf->velNED[1] != _gps.vel_e_m_s || - _ekf->velNED[2] != _gps.vel_d_m_s) && (gps_dt > 0.00001f)) { + if (((fabsf(_ekf->velNED[0] - _gps.vel_n_m_s) > FLT_EPSILON) || + (fabsf(_ekf->velNED[1] - _gps.vel_e_m_s) > FLT_EPSILON) || + (fabsf(_ekf->velNED[2] - _gps.vel_d_m_s) > FLT_EPSILON)) && (gps_dt > 0.00001f)) { _ekf->accelGPSNED[0] = (_ekf->velNED[0] - _gps.vel_n_m_s) / gps_dt; _ekf->accelGPSNED[1] = (_ekf->velNED[1] - _gps.vel_e_m_s) / gps_dt; |