From c71f2ea20482a9483e4c068c858cfe8e19f1c11c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 25 Oct 2012 16:29:17 +0200 Subject: Proper attitude initialization, finite check on attitude outputs --- apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) (limited to 'apps/attitude_estimator_ekf') diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 3a432c3eb..4130b1c06 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -62,6 +62,7 @@ #include #include +#include #include "codegen/attitudeKalmanfilter_initialize.h" #include "codegen/attitudeKalmanfilter.h" @@ -200,7 +201,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) uint64_t last_run = hrt_absolute_time(); struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); uint64_t last_data = 0; uint64_t last_measurement = 0; @@ -350,7 +353,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) static bool const_initialized = false; /* initialize with good values once we have a reasonable dt estimate */ - if (!const_initialized && dt < 0.05 && dt > 0.005) + if (!const_initialized && dt < 0.05f && dt > 0.005f) { dt = 0.005f; parameters_update(&ekf_param_handles, &ekf_params); @@ -445,8 +448,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix)); att.R_valid = true; - // Broadcast - orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); + if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) { + // Broadcast + orb_publish(ORB_ID(vehicle_attitude), pub_att, &att); + } else { + warnx("NaN in roll/pitch/yaw estimate!"); + } } } } -- cgit v1.2.3