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Fixed selective publication update

This commit is contained in:
Lorenz Meier 2013-01-19 17:11:12 +01:00
parent 4b2d1690d3
commit 2542722102
1 changed files with 8 additions and 5 deletions
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13
apps/examples/kalman_demo/KalmanNav.cpp
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@ -240,9 +240,7 @@ void KalmanNav::update()
if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
_pubTimeStamp = newTimeStamp;
if (_positionInitialized) _pos.update();
if (_attitudeInitialized) _att.update();
updatePublications();
}
// output
@ -294,8 +292,13 @@ void KalmanNav::updatePublications()
_att.q_valid = true;
_att.counter = _navFrames;
// update publications
SuperBlock::updatePublications();
// selectively update publications,
// do NOT call superblock do-all method
if (_positionInitialized)
_pos.update();
if (_attitudeInitialized)
_att.update();
}
int KalmanNav::predictState(float dt)