From 3042731d26e94b3c126e61e422b98fcd7df4694c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 3 Nov 2013 18:27:26 +0100 Subject: Smaller hotfixes for att pos estimator --- src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) (limited to 'src/modules/att_pos_estimator_ekf') diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 33879892e..18fb6dcbc 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -34,7 +34,7 @@ /** * @file KalmanNav.cpp * - * kalman filter navigation code + * Kalman filter navigation code */ #include @@ -228,10 +228,7 @@ void KalmanNav::update() updateSubscriptions(); // initialize attitude when sensors online - if (!_attitudeInitialized && sensorsUpdate && - _sensors.accelerometer_counter > 10 && - _sensors.gyro_counter > 10 && - _sensors.magnetometer_counter > 10) { + if (!_attitudeInitialized && sensorsUpdate) { if (correctAtt() == ret_ok) _attitudeInitCounter++; if (_attitudeInitCounter > 100) { @@ -643,7 +640,7 @@ int KalmanNav::correctAtt() if (beta > _faultAtt.get()) { warnx("fault in attitude: beta = %8.4f", (double)beta); - warnx("y:\n"); y.print(); + warnx("y:"); y.print(); } // update quaternions from euler -- cgit v1.2.3