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EKF: Set mag timeout

This commit is contained in:
Lorenz Meier 2015-08-30 14:23:46 +02:00
parent 46f7404078
commit 293bd026d0
1 changed files with 2 additions and 1 deletions
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3
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -219,6 +219,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_LP_att_Q(100.0f, 10.0f), _LP_att_Q(100.0f, 10.0f),
_LP_att_R(100.0f, 10.0f) _LP_att_R(100.0f, 10.0f)
{ {
_voter_mag.set_timeout(200000);
_parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS"); _parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS");
_parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS"); _parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS");
@ -1136,7 +1137,7 @@ int AttitudePositionEstimatorEKF::start()
/* start the task */ /* start the task */
_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator", _estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40, SCHED_PRIORITY_MAX - 20,
4800, 4800,
(px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline, (px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline,
nullptr); nullptr);