Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-07 01:04:19 +08:00
Code Issues Actions 12 Packages Projects Releases Wiki Activity

attitude_estimator_q: Fix NaN protection

Browse Source
This commit is contained in:
Johan Jansen
2015-07-28 16:07:05 +02:00
parent 7956f97abb
commit 99c448b5f0
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+3 -1
View File
@@ -268,7 +268,7 @@ void AttitudeEstimatorQ::task_main() {
}
}
if (_acc_comp && _gpos.timestamp != 0 && hrt_absolute_time() < _gpos.timestamp + 20000 && _gpos.eph < 5.0f) {
if (_acc_comp && _gpos.timestamp != 0 && hrt_absolute_time() < _gpos.timestamp + 20000 && _gpos.eph < 5.0f && _inited) {
/* position data is actual */
if (gpos_updated) {
Vector<3> vel(_gpos.vel_n, _gpos.vel_e, _gpos.vel_d);
@@ -450,6 +450,8 @@ bool AttitudeEstimatorQ::update(float dt) {
PX4_ISFINITE(_q(2)) && PX4_ISFINITE(_q(3)))) {
// Reset quaternion to last good state
_q = q_last;
_rates.zero();
_gyro_bias.zero();
return false;
}