From 179bace35aaa32a23ebd7a9cb99d54eae53690f5 Mon Sep 17 00:00:00 2001 From: Antonio Sanniravong Date: Tue, 24 Jun 2014 07:47:16 -0400 Subject: Resets XY velocities when we can't estimate them --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c') diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index f908d7a3b..5f132453b 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -916,6 +916,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memcpy(x_est_prev, x_est, sizeof(x_est)); memcpy(y_est_prev, y_est, sizeof(y_est)); } + } else { + /* gradually reset xy velocity estimates */ + inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_reset_v); + inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_reset_v); } /* detect land */ @@ -931,6 +935,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) landed = false; landed_time = 0; } + /* reset xy velocity estimates when landed */ + x_est[1] = 0.0f; + y_est[1] = 0.0f; } else { if (alt_disp2 < land_disp2 && thrust < params.land_thr) { -- cgit v1.2.3