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Code Issues Releases Activity

fixed bugs in GPS, corrected zeroing of updated flags in stateestimation

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This commit is contained in:
Corvus Corax 2013-05-25 12:28:32 +02:00
parent 87b1b4873c
commit 6c25e82633
2 changed files with 5 additions and 5 deletions
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6
flight/modules/GPS/GPS.c
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@ -72,7 +72,7 @@ static void setPositionSensor(GPSPositionSensorData *gpsData);
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 850
#define STACK_SIZE_BYTES 1024
#else
#if defined(PIOS_GPS_MINIMAL)
#define STACK_SIZE_BYTES 500
@ -349,11 +349,11 @@ static void setPositionSensor(GPSPositionSensorData *gpsData)
float ECEF[3];
float Rne[3][3];
{
float LLA[3] = { home.Latitude, home.Longitude, home.Altitude };
float LLA[3] = { (home.Latitude) / 10e6f, (home.Longitude) / 10e6f, (home.Altitude) };
LLA2ECEF(LLA, ECEF);
RneFromLLA(LLA, Rne);
}
{ float LLA[3] = { gpsData->Latitude, gpsData->Longitude, gpsData->Altitude + gpsData->GeoidSeparation };
{ float LLA[3] = { (gpsData->Latitude) / 10e6f, (gpsData->Longitude) / 10e6f, gpsData->Altitude + gpsData->GeoidSeparation };
float NED[3];
LLA2Base(LLA, ECEF, Rne, NED);
pos.North = NED[0];

4
flight/modules/StateEstimation/stateestimation.c
View File

@ -377,8 +377,8 @@ static void StateEstimationCb(void)
}
// read updated sensor UAVObjects and set initial state
states.updated = updatedSensors;
updatedSensors ^= states.updated;
states.updated = updatedSensors;
updatedSensors = 0;
// fetch sensors, check values, and load into state struct
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GyroSensor, gyro, x, y, z);