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[ins] ins_int: properly reset vff state on realign and initial ltp fix

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This commit is contained in:
Felix Ruess
2015-03-31 14:45:10 +02:00
parent 2502871d47
commit b7cb5fd39a
2 changed files with 51 additions and 54 deletions
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sw/airborne/subsystems/ins/ins_int.c
+5 -7
View File
@@ -302,13 +302,12 @@ static void baro_cb(uint8_t __attribute__((unused)) sender_id, float pressure)
#if USE_GPS #if USE_GPS
void ins_int_update_gps(struct GpsState *gps_s) void ins_int_update_gps(struct GpsState *gps_s)
{ {
if (gps_s->fix == GPS_FIX_3D) { if (gps_s->fix != GPS_FIX_3D) {
return;
}
if (!ins_int.ltp_initialized) { if (!ins_int.ltp_initialized) {
ltp_def_from_ecef_i(&ins_int.ltp_def, &gps_s->ecef_pos); ins_reset_local_origin();
ins_int.ltp_def.lla.alt = gps_s->lla_pos.alt;
ins_int.ltp_def.hmsl = gps_s->hmsl;
ins_int.ltp_initialized = TRUE;
stateSetLocalOrigin_i(&ins_int.ltp_def);
} }
struct NedCoor_i gps_pos_cm_ned; struct NedCoor_i gps_pos_cm_ned;
@@ -369,7 +368,6 @@ void ins_int_update_gps(struct GpsState *gps_s)
#endif /* USE_HFF */ #endif /* USE_HFF */
ins_ned_to_state(); ins_ned_to_state();
}
} }
#else #else
void ins_int_update_gps(struct GpsState *gps_s __attribute__((unused))) {} void ins_int_update_gps(struct GpsState *gps_s __attribute__((unused))) {}
sw/airborne/subsystems/ins/vf_float.c
+1 -2
View File
@@ -254,6 +254,5 @@ void vff_update_vz_conf(float vz_meas, float conf)
void vff_realign(float z_meas) void vff_realign(float z_meas)
{ {
vff.z = z_meas; vff_init(z_meas, 0., 0.);
vff.zdot = 0;
} }