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alt estimate from baro

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This commit is contained in:
Pascal Brisset
2007-09-13 11:58:34 +00:00
parent cc9903d351
commit c953e1cc3e
1 changed files with 14 additions and 4 deletions
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sw/airborne/estimator.h
+14 -4
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@@ -32,6 +32,7 @@
#include <inttypes.h>
#include "std.h"
#include "baro_MS5534A.h"
extern float ir_roll_neutral;
extern float ir_pitch_neutral;
@@ -82,20 +83,29 @@ extern void alt_kalman( float );
#endif
#ifdef ALT_KALMAN
#define EstimatorSetPos(x, y, z) { estimator_x = x; estimator_y = y; \
if (!alt_kalman_enabled) \
#define EstimatorSetPosXY(x, y) { estimator_x = x; estimator_y = y; }
#ifdef USE_BARO_MS5534A
/* Kalman filter cannot be disabled in this mode (no z_dot) */
#define EstimatorSetAlt(z) alt_kalman(z)
#else /* USE_BARO_MS5534A */
#define EstimatorSetAlt(z) { \
if (!alt_kalman_enabled) { \
estimator_z = z; \
else { \
} else { \
alt_kalman(z); \
} \
}
#endif /* ! USE_BARO_MS5534A */
#define EstimatorSetSpeedPol(vhmod, vhdir, vz) { \
estimator_hspeed_mod = vhmod; \
estimator_hspeed_dir = vhdir; \
if (!alt_kalman_enabled) estimator_z_dot = vz; \
}
#else /* ALT_KALMAN */
#define EstimatorSetPos(x, y, z) { estimator_x = x; estimator_y = y; estimator_z = z; }
#define EstimatorSetPosXY(x, y) { estimator_x = x; estimator_y = y; }
#define EstimatorSetAlt(z) { estimator_z = z; }
#define EstimatorSetSpeedPol(vhmod, vhdir, vz) { \
estimator_hspeed_mod = vhmod; \
estimator_hspeed_dir = vhdir; \