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Smaller hotfixes for att pos estimator

This commit is contained in:
Lorenz Meier 2013-11-03 18:27:26 +01:00
parent 791695ccd0
commit 3042731d26
1 changed files with 3 additions and 6 deletions
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9
src/modules/att_pos_estimator_ekf/KalmanNav.cpp
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@ -34,7 +34,7 @@
/**
* @file KalmanNav.cpp
*
* kalman filter navigation code
* Kalman filter navigation code
*/
#include <poll.h>
@ -228,10 +228,7 @@ void KalmanNav::update()
updateSubscriptions();
// initialize attitude when sensors online
if (!_attitudeInitialized && sensorsUpdate &&
_sensors.accelerometer_counter > 10 &&
_sensors.gyro_counter > 10 &&
_sensors.magnetometer_counter > 10) {
if (!_attitudeInitialized && sensorsUpdate) {
if (correctAtt() == ret_ok) _attitudeInitCounter++;
if (_attitudeInitCounter > 100) {
@ -643,7 +640,7 @@ int KalmanNav::correctAtt()
if (beta > _faultAtt.get()) {
warnx("fault in attitude: beta = %8.4f", (double)beta);
warnx("y:\n"); y.print();
warnx("y:"); y.print();
}
// update quaternions from euler