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
commit dba229ffa5
2 changed files with 6 additions and 2 deletions

View File

@ -1730,6 +1730,7 @@ void calcEarthRateNED(Vector3f &omega, float latitude)
void CovarianceInit() void CovarianceInit()
{ {
// Calculate the initial covariance matrix P // 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[1][1] = 0.25f*sq(1.0f*deg2rad);
P[2][2] = 0.25f*sq(1.0f*deg2rad); P[2][2] = 0.25f*sq(1.0f*deg2rad);
P[3][3] = 0.25f*sq(10.0f*deg2rad); P[3][3] = 0.25f*sq(10.0f*deg2rad);

View File

@ -392,8 +392,6 @@ FixedwingEstimator::task_main()
parameters_update(); parameters_update();
Vector3f lastAngRate;
Vector3f lastAccel;
/* set initial filter state */ /* set initial filter state */
fuseVelData = false; fuseVelData = false;
fusePosData = false; fusePosData = false;
@ -402,6 +400,11 @@ FixedwingEstimator::task_main()
fuseVtasData = false; fuseVtasData = false;
statesInitialised = 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) */ /* wakeup source(s) */
struct pollfd fds[2]; struct pollfd fds[2];