Mirrors_Framework/PX4-Autopilot
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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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src/modules/local_position_estimator/sensors/baro.cpp
+2 -1
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@@ -78,8 +78,9 @@ void BlockLocalPositionEstimator::baroCorrect()
if (_baroFault < FAULT_MINOR) { if (_baroFault < FAULT_MINOR) {
if (beta > 2.0f * BETA_TABLE[n_y_baro]) { 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", 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; _baroFault = FAULT_MINOR;
} }
src/modules/local_position_estimator/sensors/gps.cpp
+7 -6
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@@ -47,10 +47,10 @@ void BlockLocalPositionEstimator::gpsInit()
_gpsAltOrigin = _gpsStats.getMean()(2); _gpsAltOrigin = _gpsStats.getMean()(2);
PX4_INFO("[lpe] gps init " PX4_INFO("[lpe] gps init "
"lat %6.2f lon %6.2f alt %5.1f m", "lat %6.2f lon %6.2f alt %5.1f m",
gpsLatOrigin, gpsLatOrigin,
gpsLonOrigin, gpsLonOrigin,
double(_gpsAltOrigin)); double(_gpsAltOrigin));
_gpsInitialized = true; _gpsInitialized = true;
_gpsFault = FAULT_NONE; _gpsFault = FAULT_NONE;
_gpsStats.reset(); _gpsStats.reset();
@@ -177,9 +177,10 @@ void BlockLocalPositionEstimator::gpsCorrect()
if (_gpsFault < FAULT_MINOR) { if (_gpsFault < FAULT_MINOR) {
if (beta > 2.0f * BETA_TABLE[n_y_gps]) { 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", 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(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(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; _gpsFault = FAULT_MINOR;
} }
src/modules/local_position_estimator/sensors/sonar.cpp
+3 -3
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@@ -35,9 +35,9 @@ void BlockLocalPositionEstimator::sonarInit()
} else { } else {
PX4_INFO("[lpe] sonar init " PX4_INFO("[lpe] sonar init "
"mean %d cm std %d cm", "mean %d cm std %d cm",
int(100 * _sonarStats.getMean()(0)), int(100 * _sonarStats.getMean()(0)),
int(100 * _sonarStats.getStdDev()(0))); int(100 * _sonarStats.getStdDev()(0)));
_sonarInitialized = true; _sonarInitialized = true;
_sonarFault = FAULT_NONE; _sonarFault = FAULT_NONE;
} }