From dc09182b950e5ad8fea35ad69d9957b72a9bbee0 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 11 Oct 2013 11:38:36 +0200 Subject: Added "bottom distance" switch, multirotor_pos_control implemented: use bottom distance to surface to control altitde --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'src/modules/position_estimator_inav') 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 6df7c69b2..8cd161075 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -439,12 +439,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else { /* new ground level */ surface_offset -= sonar_corr; - mavlink_log_info(mavlink_fd, "[inav] new surface level: %.3f", surface_offset); - alt_avg -= sonar_corr; // TODO check this sonar_corr = 0.0f; sonar_corr_filtered = 0.0f; sonar_valid_time = t; sonar_valid = true; + local_pos.surface_bottom_timestamp = t; + mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset); } } else { @@ -521,14 +521,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (gps_valid) { if (gps.eph_m > 10.0f) { gps_valid = false; - warnx("GPS signal lost"); mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { if (gps.eph_m < 5.0f) { gps_valid = true; - warnx("GPS signal found"); mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); } } -- cgit v1.2.3