rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-17 02:52:12 +01:00
Code Issues Releases Activity

OP-1267 Fix UAV position after a HomeLocation Update (adding #define to be clearer)

Browse Source
This commit is contained in:
Bertrand Oresve 2014-03-25 21:00:10 +01:00
parent 10dec58a10
commit 199193aa3f
1 changed files with 12 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
flight/modules/StateEstimation/stateestimation.c
View File

@ -56,10 +56,14 @@
#include "CoordinateConversions.h"
// Private constants
#define STACK_SIZE_BYTES 256
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
#define TASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define TIMEOUT_MS 10
#define STACK_SIZE_BYTES 256
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
#define TASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define TIMEOUT_MS 10
// Private filter init const
#define FILTER_INIT_FORCE -1
#define FILTER_INIT_IF_POSSIBLE -2
// local macros, ONLY to be used in the middle of StateEstimationCb in section RUNSTATE_LOAD after the update of states updated!
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(sensorname, shortname, a1, a2, a3) \
@ -335,7 +339,7 @@ static void StateEstimationCb(void)
if (fusionAlgorithm != revoSettings.FusionAlgorithm) {
FlightStatusData fs;
FlightStatusGet(&fs);
if (fs.Armed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == -1) {
if (fs.Armed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == FILTER_INIT_FORCE) {
const filterPipeline *newFilterChain;
switch (revoSettings.FusionAlgorithm) {
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
@ -488,9 +492,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
*/
static void homeLocationUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
// Set fusionAlgorithm to -2 to force a filter init (necessary for LLA filter)
// This value force a filter init only when disarmed
fusionAlgorithm = -2;
// Ask for a filter init (necessary for LLA filter)
// Only possible if disarmed
fusionAlgorithm = FILTER_INIT_IF_POSSIBLE;
}