diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index 4aba65b4a..ba8a58f65 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -302,6 +302,8 @@ FixedwingEstimator::FixedwingEstimator() : _vstatus_sub(-1), _params_sub(-1), _manual_control_sub(-1), + _mission_sub(-1), + _home_sub(-1), /* publications */ _att_pub(-1), @@ -712,6 +714,8 @@ FixedwingEstimator::task_main() if (last_accel != _sensor_combined.accelerometer_timestamp) { accel_updated = true; + } else { + accel_updated = false; } last_accel = _sensor_combined.accelerometer_timestamp; @@ -802,7 +806,6 @@ FixedwingEstimator::task_main() perf_count(_perf_gps); if (_gps.fix_type < 3) { - gps_updated = false; newDataGps = false; } else { |