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Merge branch 'corvuscorax/OP-1875_restart_ekf_on_magsource_change' into rel-nano-15.05

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Corvus Corax 2015-06-04 13:50:53 +02:00
commit 1e7c7ff620
1 changed files with 6 additions and 4 deletions
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10
flight/modules/StateEstimation/stateestimation.c
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@ -42,6 +42,7 @@
#include <gpsvelocitysensor.h> #include <gpsvelocitysensor.h>
#include <homelocation.h> #include <homelocation.h>
#include <auxmagsensor.h> #include <auxmagsensor.h>
#include <auxmagsettings.h>
#include <gyrostate.h> #include <gyrostate.h>
#include <accelstate.h> #include <accelstate.h>
@ -254,7 +255,7 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
static void settingsUpdatedCb(UAVObjEvent *objEv); static void settingsUpdatedCb(UAVObjEvent *objEv);
static void sensorUpdatedCb(UAVObjEvent *objEv); static void sensorUpdatedCb(UAVObjEvent *objEv);
static void homeLocationUpdatedCb(UAVObjEvent *objEv); static void criticalConfigUpdatedCb(UAVObjEvent *objEv);
static void StateEstimationCb(void); static void StateEstimationCb(void);
static inline int32_t maxint32_t(int32_t a, int32_t b) static inline int32_t maxint32_t(int32_t a, int32_t b)
@ -292,7 +293,8 @@ int32_t StateEstimationInitialize(void)
RevoSettingsConnectCallback(&settingsUpdatedCb); RevoSettingsConnectCallback(&settingsUpdatedCb);
HomeLocationConnectCallback(&homeLocationUpdatedCb); HomeLocationConnectCallback(&criticalConfigUpdatedCb);
AuxMagSettingsConnectCallback(&criticalConfigUpdatedCb);
GyroSensorConnectCallback(&sensorUpdatedCb); GyroSensorConnectCallback(&sensorUpdatedCb);
AccelSensorConnectCallback(&sensorUpdatedCb); AccelSensorConnectCallback(&sensorUpdatedCb);
@ -538,9 +540,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
} }
/** /**
* Callback for eventdispatcher when HomeLocation has been updated * Callback for eventdispatcher when HomeLocation or other critical configs (auxmagsettings, ...) has been updated
*/ */
static void homeLocationUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void criticalConfigUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
// Ask for a filter init (necessary for LLA filter) // Ask for a filter init (necessary for LLA filter)
// Only possible if disarmed // Only possible if disarmed