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ALT_KALMAN matrix downlinked only if DEBUG_ALT_KALMAN is set

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Pascal Brisset
2007-10-05 08:29:32 +00:00
parent 1f5e7df8d6
commit 018a02a4ac
1 changed files with 2 additions and 0 deletions
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sw/airborne/estimator.c
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@@ -201,7 +201,9 @@ void alt_kalman(float gps_z) {
p[1][1] = -p[0][1]*k_1+p[1][1];
}
#ifdef DEBUG_ALT_KALMAN
DOWNLINK_SEND_ALT_KALMAN(&(p[0][0]),&(p[0][1]),&(p[1][0]), &(p[1][1]));
#endif
}
#endif