aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_AHRS: when no accel info available in buffer use current value

Browse Source 
this prevents an initialisation error, and is reasonable in flight too

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2014-05-15 22:19:54 +10:00
parent 315290029a
commit b3c1e515dc
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -476,6 +476,11 @@ Vector3f AP_AHRS_DCM::ra_delayed(uint8_t instance, const Vector3f &ra)
// get the old element, and then fill it with the new element
Vector3f ret = _ra_delay_buffer[instance];
_ra_delay_buffer[instance] = ra;
if (ret.is_zero()) {
// use the current vector if the previous vector is exactly
// zero. This prevents an error on initialisation
return ra;
}
return ret;
}