From 717e1bd374e7710ce579e91c45852bbba906eba8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 16 Mar 2014 13:47:26 +0100 Subject: Removed stupid sensor counter, replaced it with much more useful timestamps --- .../position_estimator_inav_main.c | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) (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 a14354138..368fa6ee2 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -200,8 +200,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool landed = true; hrt_abstime landed_time = 0; - uint32_t accel_counter = 0; - uint32_t baro_counter = 0; + hrt_abstime accel_timestamp = 0; + hrt_abstime baro_timestamp = 0; bool ref_inited = false; hrt_abstime ref_init_start = 0; @@ -310,8 +310,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds_init[0].revents & POLLIN) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (wait_baro && sensor.baro_counter != baro_counter) { - baro_counter = sensor.baro_counter; + if (wait_baro && sensor.baro_timestamp != baro_timestamp) { + baro_timestamp = sensor.baro_timestamp; /* mean calculation over several measurements */ if (baro_init_cnt < baro_init_num) { @@ -384,7 +384,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); - if (sensor.accelerometer_counter != accel_counter) { + if (sensor.accelerometer_timestamp != accel_timestamp) { if (att.R_valid) { /* correct accel bias */ sensor.accelerometer_m_s2[0] -= acc_bias[0]; @@ -408,13 +408,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memset(corr_acc, 0, sizeof(corr_acc)); } - accel_counter = sensor.accelerometer_counter; + accel_timestamp = sensor.accelerometer_timestamp; accel_updates++; } - if (sensor.baro_counter != baro_counter) { + if (sensor.baro_timestamp != baro_timestamp) { corr_baro = baro_offset - sensor.baro_alt_meter - z_est[0]; - baro_counter = sensor.baro_counter; + baro_timestamp = sensor.baro_timestamp; baro_updates++; } } -- cgit v1.2.3