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AttPosEKF: Fix 5Hz sawtooth oscilation in XY position estimate

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This commit is contained in:
Johan Jansen
2015-03-12 17:28:21 +01:00
parent 67695f191e
commit 211760e3e3
2 changed files with 4 additions and 11 deletions
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src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
-1
View File
@@ -208,7 +208,6 @@ private:
bool _ekf_logging; ///< log EKF state
unsigned _debug; ///< debug level - default 0
bool _newDataGps;
bool _newHgtData;
bool _newAdsData;
bool _newDataMag;
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+4 -10
View File
@@ -188,7 +188,6 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_ekf_logging(true),
_debug(0),
_newDataGps(false),
_newHgtData(false),
_newAdsData(false),
_newDataMag(false),
@@ -668,7 +667,7 @@ void AttitudePositionEstimatorEKF::task_main()
}
//Run EKF data fusion steps
updateSensorFusion(_newDataGps, _newDataMag, _newRangeData, _newHgtData, _newAdsData);
updateSensorFusion(_gpsIsGood, _newDataMag, _newRangeData, _newHgtData, _newAdsData);
//Publish attitude estimations
publishAttitude();
@@ -1267,10 +1266,10 @@ void AttitudePositionEstimatorEKF::pollData()
}
orb_check(_gps_sub, &_newDataGps);
if (_newDataGps) {
bool gps_update;
orb_check(_gps_sub, &gps_update);
if (gps_update) {
orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
perf_count(_perf_gps);
@@ -1349,9 +1348,6 @@ void AttitudePositionEstimatorEKF::pollData()
_previousGPSTimestamp = _gps.timestamp_position;
} else {
//Too poor GPS fix to use
_newDataGps = false;
}
}
@@ -1415,8 +1411,6 @@ void AttitudePositionEstimatorEKF::pollData()
}
perf_count(_perf_baro);
_newHgtData = true;
}
//Update Magnetometer