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Merge branch 'paul_estimator' of github.com:PX4/Firmware into paul_estimator

This commit is contained in:
Lorenz Meier 2014-01-31 18:14:27 +01:00
parent 92cf8a4cd7 9cb59e33a6
commit dba229ffa5
2 changed files with 6 additions and 2 deletions
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1
src/modules/fw_att_pos_estimator/estimator.cpp
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@ -1730,6 +1730,7 @@ void calcEarthRateNED(Vector3f &omega, float latitude)
void CovarianceInit()
{
// Calculate the initial covariance matrix P
P[0][0] = 0.25f*sq(1.0f*deg2rad);
P[1][1] = 0.25f*sq(1.0f*deg2rad);
P[2][2] = 0.25f*sq(1.0f*deg2rad);
P[3][3] = 0.25f*sq(10.0f*deg2rad);

7
src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
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@ -392,8 +392,6 @@ FixedwingEstimator::task_main()
parameters_update();
Vector3f lastAngRate;
Vector3f lastAccel;
/* set initial filter state */
fuseVelData = false;
fusePosData = false;
@ -402,6 +400,11 @@ FixedwingEstimator::task_main()
fuseVtasData = false;
statesInitialised = false;
/* initialize measurement data */
VtasMeas = 0.0f;
Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
Vector3f lastAccel = {0.0f, 0.0f, 0.0f};
/* wakeup source(s) */
struct pollfd fds[2];