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in main_ap: call ahrs_update_infrared and ahrs_update_gps instead of estimator_update_state_infrared

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This commit is contained in:
Felix Ruess
2011-08-23 21:07:31 +02:00
parent a8734e8a3d
commit e026791d7f
1 changed files with 5 additions and 2 deletions
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sw/airborne/firmwares/fixedwing/main_ap.c
+5 -2
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@@ -373,7 +373,7 @@ static void navigation_task( void ) {
* - 20 Hz:
* - lets use \a reporting_task at 60 Hz
* - updates ir with \a ir_update
* - updates estimator of ir with \a estimator_update_state_infrared
* - updates estimator of ir with \a ahrs_update_infrared
* - set \a desired_aileron and \a desired_elevator with \a pid_attitude_loop
* - sends to \a fbw \a desired_throttle, \a desired_aileron and
* \a desired_elevator \note \a desired_throttle is set upon GPS
@@ -393,7 +393,7 @@ static inline void attitude_loop( void ) {
#ifdef USE_INFRARED
infrared_update();
estimator_update_state_infrared();
ahrs_update_infrared();
#endif /* USE_INFRARED */
h_ctl_attitude_loop(); /* Set h_ctl_aileron_setpoint & h_ctl_elevator_setpoint */
v_ctl_throttle_slew();
@@ -655,6 +655,9 @@ void event_task_ap( void ) {
#ifdef USE_GPS
static inline void on_gps_solution( void ) {
estimator_update_state_gps();
#ifdef USE_INFRARED
ahrs_update_gps();
#endif
#ifdef GPS_TRIGGERED_FUNCTION
GPS_TRIGGERED_FUNCTION();
#endif