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Code Issues Releases Activity

When in complimentary filter mode use GPSVelocity so event system doesn't have

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warning.
This commit is contained in:
James Cotton 2012-04-22 18:51:23 -05:00
parent b97b0617aa
commit 2890fcdc9f
1 changed files with 10 additions and 3 deletions
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13
flight/Modules/Attitude/revolution/attitude.c
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@ -446,15 +446,22 @@ static int32_t updateAttitudeComplimentary(bool first_run)
positionActual.East = NED[1];
positionActual.Down = NED[2];
PositionActualSet(&positionActual);
}
if ( xQueueReceive(gpsVelQueue, &ev, 0) == pdTRUE ) {
// Transform the GPS position into NED coordinates
GPSVelocityData gpsVelocity;
GPSVelocityGet(&gpsVelocity);
VelocityActualData velocityActual;
VelocityActualGet(&velocityActual);
velocityActual.North = gpsPosition.Groundspeed * cosf(gpsPosition.Heading * F_PI / 180.0f);
velocityActual.East = gpsPosition.Groundspeed * sinf(gpsPosition.Heading * F_PI / 180.0f);
velocityActual.Down = 0;
velocityActual.North = gpsVelocity.North;
velocityActual.East = gpsVelocity.East;
velocityActual.Down = gpsVelocity.Down;
VelocityActualSet(&velocityActual);
}
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
return 0;