Mirrors_Framework/PX4-Autopilot
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Merge branch 'master' of github.com:PX4/Firmware into control_state

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Youssef Demitri
2015-10-14 13:44:55 +02:00
parent c22c678b7d 51707245bb
commit 36bfa58419
3 changed files with 12 additions and 4 deletions
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Makefile
+8 -3
View File
@@ -104,13 +104,13 @@ endef
# -------------------------------------------------------------------- # --------------------------------------------------------------------
# Do not put any spaces between function arguments. # Do not put any spaces between function arguments.
px4fmu-v1_default: px4fmu-v1_default: git-init
$(call cmake-build,nuttx_px4fmu-v1_default) $(call cmake-build,nuttx_px4fmu-v1_default)
px4fmu-v2_default: px4fmu-v2_default: git-init
$(call cmake-build,nuttx_px4fmu-v2_default) $(call cmake-build,nuttx_px4fmu-v2_default)
px4fmu-v2_simple: px4fmu-v2_simple: git-init
$(call cmake-build,nuttx_px4fmu-v2_simple) $(call cmake-build,nuttx_px4fmu-v2_simple)
nuttx_sim_simple: nuttx_sim_simple:
@@ -181,6 +181,11 @@ distclean: clean
@git clean -d -f -x @git clean -d -f -x
@cd ../../../.. @cd ../../../..
# XXX this is not the right way to fix it, but we need a temporary solution
# for average joe
git-init:
@git submodule update --init --recursive
# targets handled by cmake # targets handled by cmake
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ)))) $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
+1
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@@ -180,6 +180,7 @@ private:
hrt_abstime _last_accel; hrt_abstime _last_accel;
hrt_abstime _last_mag; hrt_abstime _last_mag;
unsigned _prediction_steps; unsigned _prediction_steps;
uint64_t _prediction_last;
struct sensor_combined_s _sensor_combined; struct sensor_combined_s _sensor_combined;
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+3 -1
View File
@@ -159,6 +159,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_last_accel(0), _last_accel(0),
_last_mag(0), _last_mag(0),
_prediction_steps(0), _prediction_steps(0),
_prediction_last(0),
_sensor_combined{}, _sensor_combined{},
@@ -1069,11 +1070,12 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
_covariancePredictionDt += _ekf->dtIMU; _covariancePredictionDt += _ekf->dtIMU;
// only fuse every few steps // only fuse every few steps
if (_prediction_steps < MAX_PREDICITION_STEPS) { if (_prediction_steps < MAX_PREDICITION_STEPS && ((hrt_absolute_time() - _prediction_last) < 20 * 1000)) {
_prediction_steps++; _prediction_steps++;
return; return;
} else { } else {
_prediction_steps = 0; _prediction_steps = 0;
_prediction_last = hrt_absolute_time();
} }
// perform a covariance prediction if the total delta angle has exceeded the limit // perform a covariance prediction if the total delta angle has exceeded the limit