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AP_TECS: update for AHRS API change

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This commit is contained in:
Andrew Tridgell 2014-02-08 19:11:37 +11:00
parent 25ef0d5a7b
commit 9b8311580b
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_TECS/AP_TECS.cpp
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@ -151,9 +151,10 @@ void AP_TECS::update_50hz(float hgt_afe)
_update_50hz_last_usec = now; _update_50hz_last_usec = now;
// USe inertial nav verical velocity and height if available // USe inertial nav verical velocity and height if available
if (_ahrs.have_inertial_nav()) { Vector3f posned, velned;
_integ2_state = -_ahrs.get_velocity_NED().z; if (_ahrs.get_velocity_NED(velned) && _ahrs.get_relative_position_NED(posned)) {
_integ3_state = -_ahrs.get_relative_position_NED().z; _integ2_state = - velned.z;
_integ3_state = - posned.z;
} else { } else {
// Get height acceleration // Get height acceleration
float hgt_ddot_mea = -(_ahrs.get_accel_ef().z + GRAVITY_MSS); float hgt_ddot_mea = -(_ahrs.get_accel_ef().z + GRAVITY_MSS);