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px4-firmware
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This commit is contained in:
James Goppert 2016-08-05 06:52:35 -04:00
parent 08f5ece306
commit 6ac79aa55f
3 changed files with 12 additions and 10 deletions
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3
src/modules/local_position_estimator/sensors/baro.cpp
View File

@ -78,8 +78,9 @@ void BlockLocalPositionEstimator::baroCorrect()
if (_baroFault < FAULT_MINOR) {
if (beta > 2.0f * BETA_TABLE[n_y_baro]) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] baro fault, r %5.2f m, beta %5.2f",
double(r(0)), double(beta));
double(r(0)), double(beta));
}
_baroFault = FAULT_MINOR;
}

13
src/modules/local_position_estimator/sensors/gps.cpp
View File

@ -47,10 +47,10 @@ void BlockLocalPositionEstimator::gpsInit()
_gpsAltOrigin = _gpsStats.getMean()(2);
PX4_INFO("[lpe] gps init "
"lat %6.2f lon %6.2f alt %5.1f m",
gpsLatOrigin,
gpsLonOrigin,
double(_gpsAltOrigin));
"lat %6.2f lon %6.2f alt %5.1f m",
gpsLatOrigin,
gpsLonOrigin,
double(_gpsAltOrigin));
_gpsInitialized = true;
_gpsFault = FAULT_NONE;
_gpsStats.reset();
@ -177,9 +177,10 @@ void BlockLocalPositionEstimator::gpsCorrect()
if (_gpsFault < FAULT_MINOR) {
if (beta > 2.0f * BETA_TABLE[n_y_gps]) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
}
_gpsFault = FAULT_MINOR;
}

6
src/modules/local_position_estimator/sensors/sonar.cpp
View File

@ -35,9 +35,9 @@ void BlockLocalPositionEstimator::sonarInit()
} else {
PX4_INFO("[lpe] sonar init "
"mean %d cm std %d cm",
int(100 * _sonarStats.getMean()(0)),
int(100 * _sonarStats.getStdDev()(0)));
"mean %d cm std %d cm",
int(100 * _sonarStats.getMean()(0)),
int(100 * _sonarStats.getStdDev()(0)));
_sonarInitialized = true;
_sonarFault = FAULT_NONE;
}