From 3cb4f59c9428705a3f96aecad54206a5b754d602 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Mon, 20 May 2013 20:49:34 +0200 Subject: [PATCH] failsafe, fallback to attitude for now until StateEstimation works reliably --- flight/modules/Attitude/revolution/attitude.c | 4 ++-- flight/targets/boards/revolution/firmware/Makefile | 3 ++- flight/targets/boards/revoproto/firmware/Makefile | 3 ++- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/flight/modules/Attitude/revolution/attitude.c b/flight/modules/Attitude/revolution/attitude.c index 2a3b38d3d..25145d052 100644 --- a/flight/modules/Attitude/revolution/attitude.c +++ b/flight/modules/Attitude/revolution/attitude.c @@ -269,10 +269,10 @@ static void AttitudeTask(__attribute__((unused)) void *parameters) case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY: ret_val = updateAttitudeComplementary(first_run); break; - case REVOSETTINGS_FUSIONALGORITHM_INSOUTDOOR: + case REVOSETTINGS_FUSIONALGORITHM_INS13OUTDOOR: ret_val = updateAttitudeINSGPS(first_run, true); break; - case REVOSETTINGS_FUSIONALGORITHM_INSINDOOR: + case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR: ret_val = updateAttitudeINSGPS(first_run, false); break; default: diff --git a/flight/targets/boards/revolution/firmware/Makefile b/flight/targets/boards/revolution/firmware/Makefile index 9733af952..887b43318 100644 --- a/flight/targets/boards/revolution/firmware/Makefile +++ b/flight/targets/boards/revolution/firmware/Makefile @@ -29,7 +29,8 @@ USE_DSP_LIB ?= NO # List of mandatory modules to include MODULES += Sensors -MODULES += StateEstimation +MODULES += Attitude/revolution +#MODULES += StateEstimation # use instead of Attitude MODULES += Altitude/revolution MODULES += Airspeed/revolution MODULES += AltitudeHold diff --git a/flight/targets/boards/revoproto/firmware/Makefile b/flight/targets/boards/revoproto/firmware/Makefile index 6ca4dbe9e..c2fe5e312 100644 --- a/flight/targets/boards/revoproto/firmware/Makefile +++ b/flight/targets/boards/revoproto/firmware/Makefile @@ -29,7 +29,8 @@ USE_DSP_LIB ?= NO # List of mandatory modules to include MODULES += Sensors -MODULES += StateEstimation +MODULES += Attitude/revolution +#MODULES += StateEstimation # use instead of Attitude MODULES += Altitude/revolution MODULES += Airspeed/revolution MODULES += AltitudeHold