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AP_NavEKF: removed delay callback

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This commit is contained in:
Andrew Tridgell 2013-12-30 12:27:35 +11:00
parent 8f16647a0c
commit e972acbc9f
1 changed files with 18 additions and 8 deletions
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26
libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
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@ -60,11 +60,6 @@ SITL sitl;
static NavEKF NavEKF(ahrs, barometer); static NavEKF NavEKF(ahrs, barometer);
static LogReader LogReader(ins, barometer, compass, g_gps); static LogReader LogReader(ins, barometer, compass, g_gps);
static void delay_cb()
{
LogReader.wait_type(LOG_GPS_MSG);
}
static FILE *plotf; static FILE *plotf;
void setup() void setup()
@ -77,8 +72,6 @@ void setup()
LogReader.wait_type(LOG_GPS_MSG); LogReader.wait_type(LOG_GPS_MSG);
LogReader.wait_type(LOG_IMU_MSG); LogReader.wait_type(LOG_IMU_MSG);
hal.scheduler->register_delay_callback(delay_cb, 5);
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
ahrs.set_fly_forward(true); ahrs.set_fly_forward(true);
ahrs.set_wind_estimation(true); ahrs.set_wind_estimation(true);
@ -138,7 +131,24 @@ void loop()
degrees(ekf_euler.x), degrees(ekf_euler.x),
degrees(ekf_euler.y), degrees(ekf_euler.y),
degrees(ekf_euler.z)); degrees(ekf_euler.z));
#if 0
::printf("t=%.3f ATT: (%.1f %.1f %.1f) AHRS: (%.1f %.1f %.1f) EKF: (%.1f %.1f %.1f) ALT: %.1f GPS: %u %f %f\n",
hal.scheduler->millis() * 0.001f,
LogReader.get_attitude().x,
LogReader.get_attitude().y,
LogReader.get_attitude().z,
ahrs.roll_sensor*0.01f,
ahrs.pitch_sensor*0.01f,
ahrs.yaw_sensor*0.01f,
degrees(ekf_euler.x),
degrees(ekf_euler.y),
degrees(ekf_euler.z),
barometer.get_altitude(),
(unsigned)g_gps->status(),
g_gps->latitude*1.0e-7f,
g_gps->longitude*1.0e-7f);
#endif
break; break;
} }