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always use ahrs.status, never ahrs_float.status

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This commit is contained in:
Felix Ruess
2011-10-05 01:06:46 +02:00
parent b386d33e09
commit 10f6a86400
5 changed files with 8 additions and 5 deletions
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sw/airborne/subsystems/ahrs.h
+2 -1
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@@ -64,7 +64,8 @@ struct AhrsFloat {
struct FloatRates body_rate;
struct FloatRates body_rate_d;
uint8_t status;
// always use status from fixed point ahrs struct for now
//uint8_t status;
};
extern struct Ahrs ahrs;
sw/airborne/subsystems/ahrs/ahrs_float_cmpl_rmat.c
+1 -1
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@@ -44,7 +44,7 @@ static inline void compute_body_orientation_and_rates(void);
struct AhrsFloatCmplRmat ahrs_impl;
void ahrs_init(void) {
ahrs_float.status = AHRS_UNINIT;
ahrs.status = AHRS_UNINIT;
/* Initialises IMU alignement */
struct FloatEulers body_to_imu_euler =
sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+1 -1
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@@ -162,7 +162,7 @@ void ahrs_update_fw_estimator( void )
void ahrs_init(void) {
ahrs_float.status = AHRS_UNINIT;
ahrs.status = AHRS_UNINIT;
/*
* Initialises our IMU alignement variables
sw/airborne/subsystems/ahrs/ahrs_infrared.c
+1 -1
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@@ -29,7 +29,7 @@
void ahrs_init(void) {
ahrs_float.status = AHRS_UNINIT;
ahrs.status = AHRS_UNINIT;
/* set ltp_to_body to zero */
FLOAT_QUAT_ZERO(ahrs_float.ltp_to_body_quat);
sw/airborne/subsystems/ahrs/ahrs_sim.c
+3 -1
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@@ -58,7 +58,9 @@ void update_attitude_from_sim(void) {
void ahrs_init(void) {
ahrs_float.status = AHRS_UNINIT;
//ahrs_float.status = AHRS_UNINIT;
// set to running for now and only use ahrs.status, not ahrs_float.status
ahrs.status = AHRS_RUNNING;
/* set ltp_to_body to zero */
FLOAT_QUAT_ZERO(ahrs_float.ltp_to_body_quat);